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adding descriptions for cancelControl BT #267

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Merged
merged 3 commits into from
Jan 29, 2022
Merged

adding descriptions for cancelControl BT #267

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a8d2428
adding configuration files
padhupradheep Jan 28, 2022
0ac700c
adding the migration desc
padhupradheep Jan 28, 2022
156067f
adding the plugin edits
padhupradheep Jan 28, 2022
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39 changes: 39 additions & 0 deletions configuration/packages/bt-plugins/actions/CancelControl.rst
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@@ -0,0 +1,39 @@
.. _bt_cancel_control:

CancelControl
=============

Used to cancel the goals given to the controllers' action server. The server address can be remapped using the ``server_name`` input port.

Input Ports
-----------

:service_name:

====== =======
Type Default
------ -------
string N/A
====== =======

Description
Service name.


:server_timeout:

====== =======
Type Default
------ -------
double 10
====== =======

Description
Server timeout (ms).

Example
-------

.. code-block:: xml

<CancelControl server_name="FollowPath" server_timeout="10"/>
1 change: 1 addition & 0 deletions configuration/packages/configuring-bt-xml.rst
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Expand Up @@ -38,6 +38,7 @@ Action Plugins
bt-plugins/actions/NavigateThroughPoses.rst
bt-plugins/actions/ComputePathThroughPoses.rst
bt-plugins/actions/RemovePassedGoals.rst
bt-plugins/actions/CancelControl.rst

Condition Plugins
*****************
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5 changes: 5 additions & 0 deletions migration/Galactic.rst
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Expand Up @@ -244,3 +244,8 @@ Some experiments to show performance improvement of dynamic composition, and the
============================================================================== ========= ============

The way of dynamic composition consumes lower memory(saves ~70%), and lower cpu (saves ~13%) than normal multiple processes.

BT Cancel Node
**************

`This PR <https://github.com/ros-planning/navigation2/pull/2787>`_ caters the users with an abstract node to develop cancel behaviors for different servers present in the Nav2 stack such as the controller_server, recovery_server and so on. As a start, this PR also provides the ``CancelControl`` behavior to cancel the goal given to the controller_server.
3 changes: 3 additions & 0 deletions plugins/index.rst
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Expand Up @@ -292,6 +292,8 @@ Behavior Tree Nodes
| | | rather than a single end goal pose |
| | | using the planner plugin specified |
+--------------------------------------------+---------------------+------------------------------------------+
| `Cancel Control Action`_ |Pradheep Padmanabhan | Cancels Nav2 controller server |
+--------------------------------------------+---------------------+------------------------------------------+

.. _Back Up Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_action.cpp
.. _Clear Entire Costmap Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp
Expand All @@ -310,6 +312,7 @@ Behavior Tree Nodes
.. _Navigate Through Poses: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
.. _Remove Passed Goals: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
.. _Compute Path Through Poses: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp
.. _Cancel Control Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp



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