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Fixed Docs for Behavior tree #772

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Merged
SteveMacenski merged 7 commits into from
Sep 17, 2025
Merged

Fixed Docs for Behavior tree #772

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217f29b
Fixed Docs for Behavior tree
Jad-ELHAJJ Sep 8, 2025
2c366d2
Added section to the migartion guide for the new BT feature
Jad-ELHAJJ Sep 16, 2025
55557c1
Update migration/Iron.rst
SteveMacenski Sep 16, 2025
e780e35
Update migration/Iron.rst
SteveMacenski Sep 16, 2025
b913a1a
Update migration/Iron.rst
SteveMacenski Sep 16, 2025
754bfce
Update migration/Iron.rst
SteveMacenski Sep 16, 2025
6960732
Moved to Kilted
Jad-ELHAJJ Sep 17, 2025
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2 changes: 1 addition & 1 deletion configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst
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Expand Up @@ -52,7 +52,7 @@ Input Ports
====== =======

Description
Behavior tree absolute path. If none is specified, NavigateThroughPoses action server uses a default behavior tree.
Behavior tree absolute path or ID. If none is specified, NavigateThroughPoses action server uses a default behavior tree.

Output Ports
------------
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4 changes: 2 additions & 2 deletions configuration/packages/bt-plugins/actions/NavigateToPose.rst
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Expand Up @@ -52,7 +52,7 @@ Input Ports
====== =======

Description
Behavior tree absolute path. If none is specified, NavigateToPose action server uses a default behavior tree.
Behavior tree absolute path or ID. If none is specified, NavigateToPose action server uses a default behavior tree.

Output Ports
------------
Expand Down Expand Up @@ -86,4 +86,4 @@ Example

<NavigateToPose goal="{goal}" server_name="NavigateToPose" server_timeout="10"
error_code_id="{navigate_to_pose_error_code}" error_msg="{navigate_to_pose_error_msg}"
behavior_tree="<some-path>/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml"/>
behavior_tree="NavigateThroughPosesWReplanningAndRecovery"/>
12 changes: 12 additions & 0 deletions configuration/packages/configuring-bt-navigator.rst
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Expand Up @@ -236,6 +236,16 @@ Parameters
Description
Whether to allow QoS profiles to be overwritten with parameterized values.

:bt_search_directories:

============== =================================================
Type Default
-------------- -----------------------------
vector<string> $(find-pkg-share nav2_bt_navigator)/behavior_trees
============== =================================================

Description
List of directories that hosts behavior trees XML files. It is needed to register all behavior trees as well as subtrees.

NavigateToPose Parameters
*************************
Expand Down Expand Up @@ -361,6 +371,8 @@ Example
path_blackboard_id: path
waypoint_statuses_blackboard_id: waypoint_statuses
navigators: ['navigate_to_pose', 'navigate_through_poses']
bt_search_directories:
- $(find-pkg-share nav2_bt_navigator)/behavior_trees
navigate_to_pose:
plugin: "nav2_bt_navigator::NavigateToPoseNavigator" # In Iron and older versions, "/" was used instead of "::"
enable_groot_monitoring: false
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8 changes: 8 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -348,6 +348,14 @@ Example:

See also :ref:`configuring_bt_navigator`

Add BehaviorTree SubTrees Support
---------------------------------

The BehaviorTree engine now supports SubTrees in different files within directory(s) set through ``bt_search_directories`` parameter. This allows you to modularize your behavior trees into smaller components that can be reused across different trees.
The interface now supports passing the behavior tree file or ID as input to the `loadBehaviorTree` method of the BT action server.
Each behavior tree is now strictly required to have its own unique ID, therefore the need to replace `MainTre` to a unique ID. For example, in `navigate_through_poses_w_replanning_and_recovery.xml
` `MainTree` can be replaced with `NavigateThroughPosesWReplanningAndRecovery`.

Option to have custom window size and poly order in Savitsky-Golay Smoother
---------------------------------------------------------------------------

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