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Adding bt explanation and updating
Signed-off-by: silanus23 <berkantali23@outlook.com>
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‎migration/Kilted.rst‎

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@@ -827,3 +827,7 @@ If you want to use this condition node in your behavior trees:
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1. Ensure your controller publishes ``tracking_feedback`` messages
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2. Add the condition node to your BT XML with appropriate error bounds
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3. The node differentiates between left/right errors, allowing asymmetric tolerance
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**Explanation for behavior tree**
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Given behavior tree in default settings checking tracking error(deviation from path) on both sides with given max tolerance of 0.05 and working on 3Hz frequency.

‎plugins/index.rst‎

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@@ -533,97 +533,101 @@ Behavior Tree Nodes
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.. _Cancel Follow Object: https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/plugins/action/follow_object_cancel_node.cpp
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+------------------------------------+--------------------+------------------------+
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| Condition Plugin Name | Creator | Description |
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+====================================+====================+========================+
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| `Goal Reached Condition`_ | Carl Delsey | Checks if goal is |
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| | | reached within tol. |
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+------------------------------------+--------------------+------------------------+
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| `Goal Updated Condition`_ |Aitor Miguel Blanco | Checks if goal is |
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| | | preempted. |
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+------------------------------------+--------------------+------------------------+
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| `Global Updated Goal Condition`_ | Joshua Wallace | Checks if goal is |
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| | | preempted in the global|
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| | | BT context |
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+------------------------------------+--------------------+------------------------+
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| `Initial Pose received Condition`_ | Carl Delsey | Checks if initial pose |
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| | | has been set |
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+------------------------------------+--------------------+------------------------+
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| `Is Stuck Condition`_ | Michael Jeronimo | Checks if robot is |
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| | | making progress or |
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| | | stuck |
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+------------------------------------+--------------------+------------------------+
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| `Is Stopped Condition`_ | Tony Najjar | Checks if robot is |
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| | | stopped for a duration |
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+------------------------------------+--------------------+------------------------+
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| `Transform Available Condition`_ | Steve Macenski | Checks if a TF |
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| | | transformation is |
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| | | available. When |
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| | | succeeds returns |
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| | | success for subsequent |
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| | | calls. |
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+------------------------------------+--------------------+------------------------+
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| `Distance Traveled Condition`_ | Sarthak Mittal | Checks is robot has |
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| | | traveled a given |
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| | | distance. |
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+------------------------------------+--------------------+------------------------+
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| `Time Expired Condition`_ | Sarthak Mittal | Checks if a given |
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| | | time period has |
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| | | passed. |
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+------------------------------------+--------------------+------------------------+
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| `Is Battery Low Condition`_ | Sarthak Mittal | Checks if battery |
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| | | percentage is below |
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| | | a specified value. |
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+------------------------------------+--------------------+------------------------+
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| `Is Path Valid Condition`_ | Joshua Wallace | Checks if a path is |
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| | | valid by making sure |
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| | | there are no LETHAL |
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| | | obstacles along the |
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| | | path. |
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+------------------------------------+--------------------+------------------------+
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| `Path Expiring Timer`_ | Joshua Wallace | Checks if the timer has|
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| | | expired. The timer is |
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| | | reset if the path gets |
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| | | updated. |
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+------------------------------------+--------------------+------------------------+
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| `Are Error Codes Present`_ | Joshua Wallace | Checks if the specified|
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| | | error codes are |
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| | | present. |
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+------------------------------------+--------------------+------------------------+
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| `Would A Controller Recovery Help`_| Joshua Wallace | Checks if a controller |
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| | | recovery could help |
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| | | clear the controller |
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| | | server error code. |
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+------------------------------------+--------------------+------------------------+
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| `Would A Planner Recovery Help`_ | Joshua Wallace | Checks if a planner |
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| | | recovery could help |
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| | | clear the planner |
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| | | server error code. |
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+------------------------------------+--------------------+------------------------+
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| `Would A Smoother Recovery Help`_ | Joshua Wallace | Checks if a Smoother |
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| | | recovery could help |
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| | | clear the smoother |
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| | | server error code. |
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+------------------------------------+--------------------+------------------------+
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| `Would A Route Recovery Help`_ | Steve Macenski | Checks if a Route |
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| | | recovery could help |
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| | | clear the route |
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| | | server error code. |
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+------------------------------------+--------------------+------------------------+
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| `Is Battery Charging Condition`_ | Alberto Tudela | Checks if the battery |
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| | | is charging. |
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+------------------------------------+--------------------+------------------------+
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| `Are Poses Near Condition`_ | Steve Macenski | Checks if 2 poses are |
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| | | nearby to each other. |
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+------------------------------------+--------------------+------------------------+
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| `Is Pose Occupied Condition`_ | Maurice Alexander | Checks if a pose is |
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| | Purnawan | occupied. |
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+------------------------------------+--------------------+------------------------+
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| `Is Goal Nearby Condition`_ | Jakub Chudziński | Checks if the robot is |
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| | | near the goal based on |
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| | | remaining path length. |
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+------------------------------------+--------------------+------------------------+
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+----------------------------------------------+-------------------------+-------------------------+
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| Condition Plugin Name | Creator | Description |
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+==============================================+=========================+=========================+
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|| `Goal Reached Condition`_ || Carl Delsey || Checks if goal is |
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|| || || reached within tol. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Goal Updated Condition`_ || Checks if goal is || |
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|| || || preempted. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Global Updated Goal Condition`_ || Joshua Wallace || Checks if goal is |
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|| || || BT context |
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|| || || |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Initial Pose received Condition`_ || Carl Delsey || Checks if initial pose |
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|| || || has been set |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Stuck Condition`_ || Michael Jeronimo || Checks if robot is |
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|| || || making progress or |
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|| || || stuck |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Stopped Condition`_ || Tony Najjar || Checks if robot is |
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|| || || stopped for a duration |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Transform Available Condition`_ || Steve Macenski || Checks if a TF |
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|| || || transformation is |
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|| || || available. When |
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|| || || succeeds returns |
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|| || || success for subsequent |
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|| || || calls. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Distance Traveled Condition`_ || Sarthak Mittal || Checks is robot has |
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|| || || traveled a given |
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|| || || distance. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Time Expired Condition`_ || Sarthak Mittal || Checks if a given |
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|| || || time period has |
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|| || || passed. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Battery Low Condition`_ || Sarthak Mittal || Checks if battery |
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|| || || percentage is below |
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|| || || a specified value. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Path Valid Condition`_ || Joshua Wallace || Checks if a path is |
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|| || || valid by making sure |
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|| || || there are no LETHAL |
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|| || || obstacles along the |
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|| || || path. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Path Expiring Timer`_ || Joshua Wallace || |
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|| || || expired. The timer is |
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|| || || reset if the path gets |
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|| || || updated. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Are Error Codes Present`_ || Joshua Wallace || |
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|| || || error codes are |
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|| || || present. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| Joshua Wallace || Checks if a controller || |
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|| || || recovery could help |
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|| || || clear the controller |
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|| || || server error code. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Would A Planner Recovery Help`_ || Joshua Wallace || Checks if a planner |
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|| || || recovery could help |
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|| || || clear the planner |
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|| || || server error code. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Would A Smoother Recovery Help`_ || Joshua Wallace || Checks if a Smoother |
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|| || || recovery could help |
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|| || || clear the smoother |
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|| || || server error code. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Would A Route Recovery Help`_ || Steve Macenski || Checks if a Route |
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|| || || recovery could help |
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|| || || clear the route |
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|| || || server error code. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Battery Charging Condition`_ || Alberto Tudela || Checks if the battery |
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|| || || is charging. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Are Poses Near Condition`_ || Steve Macenski || Checks if 2 poses are |
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|| || || nearby to each other. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Pose Occupied Condition`_ || Maurice Alexander || Checks if a pose is |
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|| || Purnawan || occupied. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Goal Nearby Condition`_ || Jakub Chudziński || Checks if the robot is |
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|| || || near the goal based on |
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|| || || remaining path length. |
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+----------------------------------------------+-------------------------+-------------------------+
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|| `Is Within Path Tracking Bounds Condition`_ || Berkan Tali || Checks if Robot |
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|| || || is within given path |
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|| || || tracking bounds and |
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|| || || alignment tolerance. |
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+----------------------------------------------+-------------------------+-------------------------+
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.. _Goal Reached Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
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.. _Goal Updated Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
@@ -646,6 +650,7 @@ Behavior Tree Nodes
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.. _Are Poses Near Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp
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.. _Is Pose Occupied Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.cpp
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.. _Is Goal Nearby Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_goal_nearby_condition.cpp
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.. _Is Within Path Tracking Bounds Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_within_path_tracking_bounds_condition.cpp
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+--------------------------+---------------------+----------------------------------+
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| Decorator Plugin Name | Creator | Description |

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