Document moved parameters

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

Author: adivardi

configuration/packages/configuring-bt-navigator.rst

@@ -180,50 +180,6 @@ Parameters
   Description
     Topic on which odometry is published
 
-:goal_blackboard_id:
-
-  ====== =======
-  Type   Default
-  ------ -------
-  string "goal"
-  ====== =======
-
-  Description
-    Blackboard variable to use to supply the goal to the behavior tree for ``NavigateToPose``. Should match ports of BT XML file.
-
-:path_blackboard_id:
-
-  ====== =======
-  Type   Default
-  ------ -------
-  string "path"
-  ====== =======
-
-  Description
-    Blackboard variable to get the path from the behavior tree for ``NavigateThroughPoses`` feedback. Should match port names of BT XML file.
-
-:goals_blackboard_id:
-
-  ====== =======
-  Type   Default
-  ------ -------
-  string "goals"
-  ====== =======
-
-  Description
-    Blackboard variable to use to supply the goals to the behavior tree for ``NavigateThroughPoses``. Should match ports of BT XML file.
-
-:waypoint_statuses_blackboard_id:
-
-  ====== ===================
-  Type   Default
-  ------ -------------------
-  string "waypoint_statuses"
-  ====== ===================
-
-  Description
-    Blackboard variable to get the statuses of waypoints from the behavior tree for ``NavigateThroughPoses`` feedback/result. Should match ports of BT XML file.
-
 :error_code_name_prefixes:
 
   ============== ===========================
@@ -284,6 +240,28 @@ Parameters
 NavigateToPose Parameters
 *************************
 
+:``<navigate_to_pose_name>``.goal_blackboard_id:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string "goal"
+  ====== =======
+
+  Description
+    Blackboard variable to use to supply the goal to the behavior tree for ``NavigateToPose``. Should match ports of BT XML file.
+
+:``<navigate_to_pose_name>``.path_blackboard_id:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string "path"
+  ====== =======
+
+  Description
+    Blackboard variable to get the path from the behavior tree for ``NavigateToPose`` feedback. Should match port names of BT XML file.
+
 :``<navigate_to_pose_name>``.enable_groot_monitoring:
 
   ============== =======
@@ -309,6 +287,39 @@ NavigateToPose Parameters
 NavigateThroughPoses Parameters
 *******************************
 
+:``<navigate_through_poses>``.goals_blackboard_id:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string "goals"
+  ====== =======
+
+  Description
+    Blackboard variable to use to supply the goals to the behavior tree for ``NavigateThroughPoses``. Should match ports of BT XML file.
+
+:``<navigate_through_poses>``.path_blackboard_id:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string "path"
+  ====== =======
+
+  Description
+    Blackboard variable to get the path from the behavior tree for ``NavigateThroughPoses`` feedback. Should match port names of BT XML file.
+
+:``<navigate_through_poses>``.waypoint_statuses_blackboard_id:
+
+  ====== ===================
+  Type   Default
+  ------ -------------------
+  string "waypoint_statuses"
+  ====== ===================
+
+  Description
+    Blackboard variable to get the statuses of waypoints from the behavior tree for ``NavigateThroughPoses`` feedback/result. Should match ports of BT XML file.
+
 :``<navigate_through_poses>``.enable_groot_monitoring:
 
   ============== =======

migration/Kilted.rst

@@ -289,3 +289,9 @@ Below are measured bandwidth values for different transport types with default p
 +------------------+----------------+
 | zlib             | 121.95         |
 +------------------+----------------+
+
+Private BT Navigator's BlackBoard ID parameters
+-----------------------------------------------
+
+The parameters ``xx_blackboard_id`` used in the BT navigator to specify the name of the blackboard variables from the behavior trees were moved into the respective navigators. They now have to be specified under the namespace of the particular navigator.
+See :ref:`configuring_bt_navigator`