From 8bb0c7c7526ccd6a82c326c2718c95f0238e4185 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 26 Jan 2024 09:32:35 +0100
Subject: [PATCH] add description

---
 .../plugins/condition/globally_updated_goal_condition.hpp   | 6 ++++--
 .../plugins/condition/goal_updated_condition.hpp            | 6 ++++--
 .../plugins/decorator/goal_updated_controller.hpp           | 6 ++++--
 .../plugins/decorator/speed_controller.hpp                  | 6 ++++--
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
index e3cd2af66f2..7fe4a654044 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
+++ b/nav2_behavior_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
index 500c6ee9977..d7191c9749d 100644
--- 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
index ffbd7bcce0b..9c59c877f67 100644
--- 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
index 9b1cb975d86..caf30982a60 100644
--- 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"),
     };
   }