Just groot migration and params (#121)

* add Groot to foxy migration guide

* add groot monitoring parameters to documentation

* Update Migration

* update bt_navigator params

* fixes

* make params just 2 columns :)

Author: gramss

configuration/packages/configuring-bt-navigator.rst

@@ -53,6 +53,42 @@ Parameters
   Description
     List of behavior tree node shared libraries.
 
+:enable_groot_monitoring:
+
+  ==== =======
+  Type Default
+  ---- -------
+  bool true
+  ==== =======
+
+  Description
+    Enable live Groot monitoring of the current BT status.
+    This is possible due to attaching a ZMQ server and publisher to the active behavior tree.
+
+    **Attention:** Groot will only work after the behavior tree is running, which means that the nav2 stack has to receive a goal first.
+
+:groot_zmq_publisher_port:
+
+  ====== =======
+  Type   Default  
+  ------ -------
+  int    1666   
+  ====== =======
+
+  Description
+    ZMQ publisher port for the Groot monitor. Used to consecutive publish the current status of the BT as flatbuffer.
+
+:groot_zmq_server_port:
+
+  ====== ======= 
+  Type   Default
+  ------ -------
+  int    1667   
+  ====== =======
+
+  Description
+    ZMQ server port for the Groot monitor. Used to send the current bt factory + configuration as flatbuffer on an (empty) request by Groot.
+
 :transform_tolerance:
 
   ====== ======= ======= 
@@ -118,6 +154,9 @@ Example
         global_frame: map
         robot_base_frame: base_link
         transform_tolerance: 0.1
+        enable_groot_monitoring: True
+        groot_zmq_publisher_port: 1666
+        groot_zmq_server_port: 1667
         bt_xml_filename: replace/with/path/to/bt.xml
         plugin_lib_names: 
         - nav2_compute_path_to_pose_action_bt_node

migration/Foxy.rst

@@ -24,6 +24,14 @@ BackUp Recovery Interface Changes
 ``target.x`` in a backup recovery goal should be positive indicating the distance to drive backward.
 In both cases negative values are silently inverted.
 
+Groot Support
+*************
+
+Live Monitoring and Editing of behavior trees with Groot is now possible.
+Switching bt-xmls on the fly through a new goal request is also included.
+This is all done without breaking any APIs.
+Enabled by default.
+
 New Plugins
 ***********