adding input at waypoint plugin (#108)

Author: SteveMacenski

configuration/packages/configuring-waypoint-follower.rst

@@ -70,6 +70,7 @@ Provided Plugins
   :maxdepth: 1
 
   nav2_waypoint_follower-plugins/wait_at_waypoint.rst
+  nav2_waypoint_follower-plugins/input_at_waypoint.rst
 
 
 Default Plugins

configuration/packages/nav2_waypoint_follower-plugins/input_at_waypoint.rst

@@ -0,0 +1,45 @@
+.. _configuring_nav2_waypoint_follower_input_at_waypoint_plugin:
+
+InputAtWaypoint
+===============
+
+Lets robot to wait for external input, with timeout, at a waypoint.
+
+Parameters
+**********
+
+``<nav2_waypoint_follower plugin>``: nav2_waypoint_follower plugin name defined in the **waypoint_task_executor_plugin_id** parameter in :ref:`configuring_waypoint_follower`.
+
+:``<nav2_waypoint_follower plugin>``.enabled:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  bool           true           
+  ============== =============================
+
+  Description
+    Whether waypoint_task_executor plugin is enabled.
+
+
+:``<nav2_waypoint_follower plugin>``.timeout:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  double         10.0           
+  ============== =============================
+
+  Description
+    Amount of time in seconds to wait for user input before moving on to the next waypoint.
+
+:``<nav2_waypoint_follower plugin>``.input_topic:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  string         "input_at_waypoint/input"           
+  ============== =============================
+
+  Description
+    Topic input is published to to indicate to move to the next waypoint, in `std_msgs/Empty`.

migration/Foxy.rst

@@ -49,6 +49,7 @@ For instance;
 Original GitHub tickets:
 
 - `WaypointTaskExecutor <https://github.com/ros-planning/navigation2/pull/1993>`_
+- `InputAtWaypoint <https://github.com/ros-planning/navigation2/pull/2049>`_
 
 Costmap Filters
 ***************

plugins/index.rst

@@ -156,8 +156,13 @@ Waypoint Task Executors
 |                                 |                        | waypoint arrivals.               |
 |                                 |                        |                                  |
 +---------------------------------+------------------------+----------------------------------+
+| `InputAtWaypoint`_              | Steve Macenski         | A plugin to wait for user input  |
+|                                 |                        | before moving onto the next      |
+|                                 |                        | waypoint.                        |
++---------------------------------+------------------------+----------------------------------+
 
 .. _WaitAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp
+.. _InputAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
 
 Goal Checkers
 =============