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Signed-off-by: Davide Faconti <[email protected]>
ros-navigation · Jan 26, 2024 · 7e293d6 · 7e293d6
1 parent c6f3a29
commit 7e293d6
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Showing 4 changed files with 16 additions and 8 deletions.
diff --git a/...ior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp b/...ior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
@@ -58,8 +58,10 @@ class GloballyUpdatedGoalCondition : public BT::ConditionNode
   static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>("goals"),
-      BT::InputPort<geometry_msgs::msg::PoseStamped>("goal"),
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
     };
   }
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp
@@ -55,8 +55,10 @@ class GoalUpdatedCondition : public BT::ConditionNode
   static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>("goals"),
-      BT::InputPort<geometry_msgs::msg::PoseStamped>("goal"),
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
     };
   }
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
@@ -49,8 +49,10 @@ class GoalUpdatedController : public BT::DecoratorNode
   static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>("goals"),
-      BT::InputPort<geometry_msgs::msg::PoseStamped>("goal"),
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
     };
   }
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
@@ -57,8 +57,10 @@ class SpeedController : public BT::DecoratorNode
       BT::InputPort<double>("max_rate", 1.0, "Maximum rate"),
       BT::InputPort<double>("min_speed", 0.0, "Minimum speed"),
       BT::InputPort<double>("max_speed", 0.5, "Maximum speed"),
-      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>("goals"),
-      BT::InputPort<geometry_msgs::msg::PoseStamped>("goal"),
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
     };
   }