diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst index e36bb5aef2..f416f35bb1 100644 --- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst +++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst @@ -23,11 +23,11 @@ Input Ports :goals: - ===================================== ======= - Type Default - ------------------------------------- ------- - geometry_msgs::msg::PoseStampedArray N/A - ===================================== ======= + ==================== ======= + Type Default + -------------------- ------- + nav_msgs::msg::Goals N/A + ==================== ======= Description Goal poses. Takes in a blackboard variable, e.g. "{goals}". diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst index 1fc421be21..7d3595f5a7 100644 --- a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst +++ b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst @@ -12,11 +12,11 @@ Input Ports :goals: - ==================================== ======= - Type Default - ------------------------------------ ------- - geometry_msgs::msg::PoseStampedArray N/A - ==================================== ======= + ==================== ======= + Type Default + -------------------- ------- + nav_msgs::msg::Goals N/A + ==================== ======= Description Goal poses. Takes in a blackboard variable, e.g. "{goals}". diff --git a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst index c2155f48cd..e575bfb605 100644 --- a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst +++ b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst @@ -22,11 +22,11 @@ Input Ports :input_goals: - ==================================== ======= - Type Default - ------------------------------------ ------- - geometry_msgs::msg::PoseStampedArray N/A - ==================================== ======= + ==================== ======= + Type Default + -------------------- ------- + nav_msgs::msg::Goals N/A + ==================== ======= Description A vector of goals to check if in collision diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst b/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst index 3ced55ee9e..65feb42b8a 100644 --- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst +++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst @@ -33,11 +33,11 @@ Input Ports :input_goals: - ==================================== ======= - Type Default - ------------------------------------ ------- - geometry_msgs::msg::PoseStampedArray N/A - ==================================== ======= + ==================== ======= + Type Default + -------------------- ------- + nav_msgs::msg::Goals N/A + ==================== ======= Description A vector of goals to check if it passed any in the current iteration. @@ -47,11 +47,11 @@ Output Ports :output_goals: - ==================================== ======= - Type Default - ------------------------------------ ------- - geometry_msgs::msg::PoseStampedArray N/A - ==================================== ======= + ==================== ======= + Type Default + -------------------- ------- + nav_msgs::msg::Goals N/A + ==================== ======= Description A vector of goals with goals removed in proximity to the robot diff --git a/configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst b/configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst index f5b08888d5..c2aeb77c5b 100644 --- a/configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst +++ b/configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst @@ -25,11 +25,11 @@ Input Ports :goals: - ==================================== ========= - Type Default - ------------------------------------ --------- - geometry_msgs::msg::PoseStampedArray "{goals}" - ==================================== ========= + ==================== ========= + Type Default + -------------------- --------- + nav_msgs::msg::Goals "{goals}" + ==================== ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst index 7c318b2cf7..db0c17d203 100644 --- a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst +++ b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst @@ -22,11 +22,11 @@ Input Ports :goals: - ==================================== ========= - Type Default - ------------------------------------ --------- - geometry_msgs::msg::PoseStampedArray "{goals}" - ==================================== ========= + ==================== ========= + Type Default + -------------------- --------- + nav_msgs::msg::Goals "{goals}" + ==================== ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst b/configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst index a54072fae4..e800cdcded 100644 --- a/configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst +++ b/configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst @@ -21,11 +21,11 @@ Input Ports :goals: - ==================================== ========= - Type Default - ------------------------------------ --------- - geometry_msgs::msg::PoseStampedArray "{goals}" - ==================================== ========= + ==================== ========= + Type Default + -------------------- --------- + nav_msgs::msg::Goals "{goals}" + ==================== ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdater.rst b/configuration/packages/bt-plugins/decorators/GoalUpdater.rst index 4c0df44110..a8254fc539 100644 --- a/configuration/packages/bt-plugins/decorators/GoalUpdater.rst +++ b/configuration/packages/bt-plugins/decorators/GoalUpdater.rst @@ -46,11 +46,11 @@ Input Ports :input_goals: - ============================== ======= - Type Default - ------------------------------ ------- - geometry_msgs/PoseStampedArray N/A - ============================== ======= + ============== ======= + Type Default + -------------- ------- + nav_msgs/Goals N/A + ============== ======= Description The original goals poses @@ -70,13 +70,13 @@ Output Ports The resulting updated goal. If no goal received by subscription, it will be the input_goal :output_goals: - - ============================== ======= - Type Default - ------------------------------ ------- - geometry_msgs/PoseStampedArray N/A - ============================== ======= - + + ============== ======= + Type Default + -------------- ------- + nav_msgs/Goals N/A + ============== ======= + Description The resulting updated goals. If no goals received by subscription, it will be the input_goals diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.rst b/configuration/packages/bt-plugins/decorators/SpeedController.rst index e23c667068..e6f9c05975 100644 --- a/configuration/packages/bt-plugins/decorators/SpeedController.rst +++ b/configuration/packages/bt-plugins/decorators/SpeedController.rst @@ -68,11 +68,11 @@ Input Ports :goals: - ==================================== ========= - Type Default - ------------------------------------ --------- - geometry_msgs::msg::PoseStampedArray "{goals}" - ==================================== ========= + ==================== ========= + Type Default + -------------------- --------- + nav_msgs::msg::Goals "{goals}" + ==================== ========= Description Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified. diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 875f665420..0f175cae47 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -302,12 +302,12 @@ Example for including ``cloned_multi_tb3_simulation_launch.py`` in another launc launch_arguments={"robots": "robot1={x: 0.5, y: 0.5, yaw: 1.5707}"}.items(), ) -ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector +ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use nav_msgs/Goals instead of vector ************************************************************************************************************************ -In `PR #262 `_ a new message type `PoseStampedArray` was introduced to the `geometry_msgs` package. -In `PR #4791 `_, most instances of `std::vector` have been replaced with `geometry_msgs::msg::PoseStampedArray`. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `PoseStampedArray`. -Since `PoseStampedArray` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.poses` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.poses` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces. +In `PR #269 `_ a new message type `Goals` was introduced to the `nav_msgs` package. +In `PR #4980 `_, all collections of `PoseStamped` has been migrated to use the `nav_msgs::msg::Goals` message. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `nav_msgs/Goals`. +Since `nav_msgs/Goals` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.goals` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.goals` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces. MPPI controller re-implemented using Eigen library and performance improved by 40-45% *************************************************************************************