Rename BT nodes and move parameter filter duration (#652)

mini-1235 · web-flow · commit 73fb3aad36b1 · 2025-03-06T10:25:09.000-08:00
* Update docs
- Fixed typos in documentation
- Updated outdated links in docs
- Renamed Behavior Tree (BT) nodes for consistency
- Moved parameter filter duration from speed controller to BT Navigator

Signed-off-by: Maurice-1235 &lt;mauricepurnawan@gmail.com&gt;

* Fix to match rst style

Signed-off-by: Maurice-1235 &lt;mauricepurnawan@gmail.com&gt;

* Add GoalUpdatedController node

Signed-off-by: Maurice-1235 &lt;mauricepurnawan@gmail.com&gt;

* Add link for the node

Signed-off-by: Maurice-1235 &lt;mauricepurnawan@gmail.com&gt;

* Add author name and example ports

Signed-off-by: Maurice-1235 &lt;mauricepurnawan@gmail.com&gt;

---------

Signed-off-by: Maurice-1235 &lt;mauricepurnawan@gmail.com&gt;
diff --git a/behavior_trees/overview/nav2_specific_nodes.rst b/behavior_trees/overview/nav2_specific_nodes.rst
@@ -1,4 +1,4 @@
-.. _nav2_specifc_nodes:
+.. _nav2_specific_nodes:
 
 Introduction To Nav2 Specific Nodes
 ===================================
@@ -33,7 +33,7 @@ Condition Nodes
 
 * GoalReached - Checks if the goal has been reached
 
-* InitialPoseReceived - Checks to see if a pose on the ``intial_pose`` topic has been received
+* InitialPoseReceived - Checks to see if a pose on the ``initial_pose`` topic has been received
 
 * isBatteryLow - Checks to see if the battery is low by listening on the battery topic
 
diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst
@@ -16,7 +16,7 @@ If there is no significantly longer path, the monitor node goes into the ``Follo
 .. image:: ../images/walkthrough/patience_and_recovery.png
 
 Once there is a significantly longer path, the child node for the ``PathLongerOnApproach`` node ticks.
-The child node is a ``RetryUntilSuccesful`` decorator node, which inturns have a ``SequenceWithMemory`` node as its child. 
+The child node is a ``RetryUntilSuccessful`` decorator node, which inturns have a ``SequenceWithMemory`` node as its child. 
 Firstly, the ``SequenceWithMemory`` node cancels the controller server by ticking the ``CancelControl`` node. The cancellation of the controller server halts the further navigation of the robot.  
 Next, the ``SequenceWithMemory`` node ticks the ``Wait`` node, which enables the robot to wait for the given user-specified time. 
 Here we need to note that, the ``MonitorAndFollowPath`` is a ``ReactiveSequence`` node, therefore the ``PathLongerOnApproach`` node needs to return SUCCESS, before the ``FollowPath`` node can be ticked once again.
diff --git a/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.rst b/configuration/packages/bt-plugins/actions/ProgressCheckerSelector.rst
@@ -3,7 +3,7 @@
 ProgressCheckerSelector
 =======================
 
-It is used to select the ProgressChecker that will be used by the progress_checker server. It subscribes to the ``progress_checker_selector`` topic to receive command messages with the name of the ProgressChecker to be used. It is commonly used before of the FollowPathAction. The ``selected_progess_checker`` output port is passed to ``progress_checker_id`` input port of the FollowPathAction. If none is provided on the topic, the ``default_progress_checker`` is used.
+It is used to select the ProgressChecker that will be used by the progress_checker server. It subscribes to the ``progress_checker_selector`` topic to receive command messages with the name of the ProgressChecker to be used. It is commonly used before of the FollowPathAction. The ``selected_progress_checker`` output port is passed to ``progress_checker_id`` input port of the FollowPathAction. If none is provided on the topic, the ``default_progress_checker`` is used.
 
 Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``.
 
diff --git a/configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst b/configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst
@@ -1,7 +1,7 @@
-.. _bt_globally_updated_goal_condition:
+.. _bt_global_updated_goal_condition:
 
-GloballyUpdatedGoal
-===================
+GlobalUpdatedGoal
+=================
 
 Checks if the global navigation goal has changed in the blackboard. 
 Returns failure if the goal is the same, if it changes, it returns success.
diff --git a/configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst b/configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst
@@ -0,0 +1,40 @@
+.. _bt_goal_updated_controller:
+
+GoalUpdatedController
+=====================
+
+Checks if the global navigation goal, or a vector of goals, has changed in the blackboard. The node ticks its child if the goal was updated.
+
+Input Ports
+-----------
+
+:goal:
+
+  =============================== ========
+  Type                            Default
+  ------------------------------- --------
+  geometry_msgs::msg::PoseStamped "{goal}"
+  =============================== ========
+
+  Description
+    	Destination to check. Takes in a blackboard variable, "{goal}" if not specified.
+
+:goals:
+
+  ==================================== =========
+  Type                                 Default
+  ------------------------------------ ---------
+  geometry_msgs::msg::PoseStampedArray "{goals}"
+  ==================================== =========
+
+  Description
+    	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
+
+Example
+-------
+
+.. code-block:: xml
+
+  <GoalUpdatedController goal="{goal}" goals="{goals}">
+    <!--Add tree components here--->
+  </GoalUpdatedController>
diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.rst b/configuration/packages/bt-plugins/decorators/SpeedController.rst
@@ -55,17 +55,6 @@ Input Ports
   Description
       The maximum robot speed above which the child node is ticked at maximum rate (m/s).
 
-:filter_duration:
-
-  ====== =======
-  Type   Default
-  ------ -------
-  double  0.3
-  ====== =======
-
-  Description
-      Duration (secs) over which robot velocity should be smoothed.
-
 :goal:
 
   =============================== ========
diff --git a/configuration/packages/configuring-bt-navigator.rst b/configuration/packages/configuring-bt-navigator.rst
@@ -90,6 +90,17 @@ Parameters
   Description
     Duration (in milliseconds) for each iteration of BT execution.
 
+:filter_duration:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double  0.3
+  ====== =======
+
+  Description
+      Duration (secs) over which robot velocity should be smoothed.
+
 :default_server_timeout:
 
   ==== =======
@@ -270,6 +281,7 @@ Example
         global_frame: map
         robot_base_frame: base_link
         transform_tolerance: 0.1
+        filter_duration: 0.3
         default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
         default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
         always_reload_bt_xml: false
diff --git a/configuration/packages/configuring-bt-xml.rst b/configuration/packages/configuring-bt-xml.rst
@@ -65,7 +65,7 @@ Condition Plugins
   bt-plugins/conditions/TransformAvailable.rst
   bt-plugins/conditions/DistanceTraveled.rst
   bt-plugins/conditions/GoalUpdated.rst
-  bt-plugins/conditions/GloballyUpdatedGoal.rst
+  bt-plugins/conditions/GlobalUpdatedGoal.rst
   bt-plugins/conditions/InitialPoseReceived.rst
   bt-plugins/conditions/IsStuck.rst
   bt-plugins/conditions/IsStopped.rst
@@ -101,6 +101,7 @@ Decorator Plugins
   bt-plugins/decorators/GoalUpdater.rst
   bt-plugins/decorators/PathLongerOnApproach.rst
   bt-plugins/decorators/SingleTrigger.rst
+  bt-plugins/decorators/GoalUpdatedController.rst
 
 Example
 *******
diff --git a/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst b/configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst
@@ -5,7 +5,7 @@ PhotoAtWaypoint
 
 Run-time plugin that takes photos at waypoint arrivals when using waypoint follower node. Saves the taken photos to specified directory. The name for taken photos are determined by 
 the waypoint index and timestamp(seconds). For instance ``/home/atas/0_1602582820.png`` is an sample taken image, where ``0_1602582820`` is the file name determined by waypoint 
-index and time stamp. The leading digit in file name implies the waypoint index and the rest of digits at righthand side imples the time stamp when the photo was taken.
+index and time stamp. The leading digit in file name implies the waypoint index and the rest of digits at righthand side implies the time stamp when the photo was taken.
 
 Parameters
 **********
diff --git a/migration/Humble.rst b/migration/Humble.rst
@@ -51,7 +51,7 @@ Expanded Planner Benchmark Tests
 Smac Planner Path Tolerances
 ****************************
 
-`PR 3219 <https://github.com/ros-navigation/navigation2/pull/3219>`_ adds path tolerances to Hybrid-A* and State Lattice planners to return approximate paths if exact paths cannot be found, within a configurable tolerance aroun the goal pose.
+`PR 3219 <https://github.com/ros-navigation/navigation2/pull/3219>`_ adds path tolerances to Hybrid-A* and State Lattice planners to return approximate paths if exact paths cannot be found, within a configurable tolerance around the goal pose.
 
 costmap_2d_node default constructor
 ***********************************
@@ -125,8 +125,8 @@ Give Behavior Server Access to Both Costmaps
 
 To update behaviors, any reference to the global_frame must be updated to the local_frame parameter
 along with the ``configuration`` method which now takes in the local and global collision checkers.
-Lastly, ``getResourceInfo`` must be overridden to return ``CostmapInfoType::LOCAL``. Other options include ``GLOBAL`` if the behavior useses global costmap and/or footprint)
-or ``BOTH`` if both are required. This allows us to only create and maintain the minimum amount of expensive resources.
+Lastly, ``getResourceInfo`` must be overridden to return ``CostmapInfoType::LOCAL``. Other options include ``GLOBAL`` if the behavior uses global costmap and/or footprint)
+or ``BOTH`` if both are required. This allows us to only create and maintain the minimum amount of expensive resources.   
 
 New Model Predictive Path Integral Controller
 *********************************************
diff --git a/migration/Iron.rst b/migration/Iron.rst
@@ -25,7 +25,7 @@ A new parameter ``enable_stamped_cmd_vel`` has been added to all of the publishe
 Add VelocityPolygon in Collision Monitor
 ****************************************
 
-`PR #3708 <https://github.com/ros-navigation/navigation2/pull/3708>`_ adds ``VelocityPolgon`` type in Collision Monitor. This allows the user to setup multiple polygons to cover the range of the robot's velocity limits. For example, the user can configure different polygons for rotation, moving forward, or moving backward. The Collision Monitor will check the robot's velocity against each sub polygon to determine the appropriate polygon to be used for collision checking. The tutorial is available in the :ref:`Configuring Collision Monitor with VelocityPolygon <collision_monitor_tutorial>` section.
+`PR #3708 <https://github.com/ros-navigation/navigation2/pull/3708>`_ adds ``VelocityPolygon`` type in Collision Monitor. This allows the user to setup multiple polygons to cover the range of the robot's velocity limits. For example, the user can configure different polygons for rotation, moving forward, or moving backward. The Collision Monitor will check the robot's velocity against each sub polygon to determine the appropriate polygon to be used for collision checking. The tutorial is available in the :ref:`Configuring Collision Monitor with VelocityPolygon <collision_monitor_tutorial>` section.
 
 
 Change polygon points parameter format in Collision Monitor
diff --git a/plugin_tutorials/docs/writing_new_behavior_plugin.rst b/plugin_tutorials/docs/writing_new_behavior_plugin.rst
@@ -148,14 +148,14 @@ The remaining methods are not used and are not mandatory to override them.
 
 Now that we have created our custom behavior, we need to export our Behavior Plugin so that it would be visible to the behavior server. Plugins are loaded at runtime and if they are not visible, then our behavior server won't be able to load it. In ROS 2, exporting and loading plugins is handled by ``pluginlib``.
 
-Coming to our tutorial, class ``nav2_sms_bahavior::SendSms`` is loaded dynamically as ``nav2_core::Behavior`` which is our base class.
+Coming to our tutorial, class ``nav2_sms_behavior::SendSms`` is loaded dynamically as ``nav2_core::Behavior`` which is our base class.
 
 1. To export the behavior, we need to provide two lines
 
 .. code-block:: c++
 
   #include "pluginlib/class_list_macros.hpp"
-  PLUGINLIB_EXPORT_CLASS(nav2_sms_bahavior::SendSms, nav2_core::Behavior)
+  PLUGINLIB_EXPORT_CLASS(nav2_sms_behavior::SendSms, nav2_core::Behavior)
 
 Note that it requires pluginlib to export out plugin's class. Pluginlib would provide as macro ``PLUGINLIB_EXPORT_CLASS`` which does all the work of exporting.
 
diff --git a/plugins/index.rst b/plugins/index.rst
@@ -478,7 +478,7 @@ Behavior Tree Nodes
 | `Goal Updated Condition`_          |Aitor Miguel Blanco | Checks if goal is      |
 |                                    |                    | preempted.             |
 +------------------------------------+--------------------+------------------------+
-| `Globally Updated Goal Condition`_ | Joshua Wallace     | Checks if goal is      |
+| `Global Updated Goal Condition`_   | Joshua Wallace     | Checks if goal is      |
 |                                    |                    | preempted in the global|
 |                                    |                    | BT context             |
 +------------------------------------+--------------------+------------------------+
@@ -547,15 +547,15 @@ Behavior Tree Nodes
 
 .. _Goal Reached Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
 .. _Goal Updated Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
-.. _Globally Updated Goal Condition: https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
+.. _Global Updated Goal Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
 .. _Initial Pose received Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
 .. _Is Stuck Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp
 .. _Is Stopped Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_stopped_condition.cpp
 .. _Transform Available Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp
 .. _Distance Traveled Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
 .. _Time Expired Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp
 .. _Is Battery Low Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp
-.. _Is Path Valid Condition: https://github.com/navigation2/blob/replanning/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
+.. _Is Path Valid Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
 .. _Path Expiring Timer: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp
 .. _Are Error Codes Present: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp
 .. _Would A Controller Recovery Help: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help.cpp
@@ -586,13 +586,17 @@ Behavior Tree Nodes
 |                          |                     | larger than the old global path  |
 |                          |                     | on approach to the goal          |
 +--------------------------+---------------------+----------------------------------+
+| `GoalUpdatedController`_ | Sophia Koffler      | Ticks child node if the goal     |
+|                          |                     | has been updated                 |
++--------------------------+---------------------+----------------------------------+
 
 .. _Rate Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/rate_controller.cpp
 .. _Distance Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/distance_controller.cpp
 .. _Speed Controller: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/speed_controller.cpp
 .. _Goal Updater: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
 .. _Single Trigger: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp
 .. _PathLongerOnApproach: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
+.. _GoalUpdatedController: https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
 
 +-----------------------+------------------------+----------------------------------+
 | Control Plugin Name   |         Creator        |       Description                |
diff --git a/setup_guides/odom/setup_odom_gz.rst b/setup_guides/odom/setup_odom_gz.rst
@@ -88,7 +88,7 @@ Adding Gazebo Plugins to a URDF/SDF
 
 We will now add the IMU sensor and the differential drive plugins of Gazebo to our URDF/SDF. For an overview of the different sensors available in Gazebo, have a look at the `Sensor Documentation <https://gazebosim.org/docs/latest/sensors>`_.
 
-A sensor must be attached to a link, thus we will create an ``imu_link`` to which the IMU sensor will be attached. This link will be referenced under the ``<gazebo>`` element if using URDF. Next, we will set ``/demo/imu`` as the topic to which the IMU will be publishing its information, and we will comply with `REP145 <https://www.ros.org/reps/rep-0145.html>`_ by setting ``initalOrientationAsReference`` to ``false``. We will also add some noise to the sensor configuration using Gazebo's `sensor noise model <https://classic.gazebosim.org/tutorials?tut=sensor_noise>`_.
+A sensor must be attached to a link, thus we will create an ``imu_link`` to which the IMU sensor will be attached. This link will be referenced under the ``<gazebo>`` element if using URDF. Next, we will set ``/demo/imu`` as the topic to which the IMU will be publishing its information, and we will comply with `REP145 <https://www.ros.org/reps/rep-0145.html>`_ by setting ``initialOrientationAsReference`` to ``false``. We will also add some noise to the sensor configuration using Gazebo's `sensor noise model <https://classic.gazebosim.org/tutorials?tut=sensor_noise>`_.
 
 Now, we will set up our IMU sensor according to the description above.
 
diff --git a/setup_guides/odom/setup_odom_gz_classic.rst b/setup_guides/odom/setup_odom_gz_classic.rst
@@ -95,7 +95,7 @@ Adding Gazebo Plugins to a URDF
 
 We will now add the IMU sensor and the differential drive plugins of Gazebo to our URDF. For an overview of the different plugins available in Gazebo, have a look at `Tutorial: Using Gazebo plugins with ROS <http://gazebosim.org/tutorials?tut=ros_gzplugins>`_.
 
-For our robot, we will be using the `GazeboRosImuSensor <http://gazebosim.org/tutorials?tut=ros_gzplugins#IMUsensor(GazeboRosImuSensor)>`_ which is a SensorPlugin. A SensorPlugin must be attached to a link, thus we will create an ``imu_link`` to which the IMU sensor will be attached. This link will be referenced under the ``<gazebo>`` element. Next, we will set ``/demo/imu`` as the topic to which the IMU will be publishing its information, and we will comply with `REP145 <https://www.ros.org/reps/rep-0145.html>`_ by setting ``initalOrientationAsReference`` to ``false``. We will also add some noise to the sensor configuration using Gazebo's `sensor noise model <http://gazebosim.org/tutorials?tut=sensor_noise>`_.
+For our robot, we will be using the `GazeboRosImuSensor <http://gazebosim.org/tutorials?tut=ros_gzplugins#IMUsensor(GazeboRosImuSensor)>`_ which is a SensorPlugin. A SensorPlugin must be attached to a link, thus we will create an ``imu_link`` to which the IMU sensor will be attached. This link will be referenced under the ``<gazebo>`` element. Next, we will set ``/demo/imu`` as the topic to which the IMU will be publishing its information, and we will comply with `REP145 <https://www.ros.org/reps/rep-0145.html>`_ by setting ``initialOrientationAsReference`` to ``false``. We will also add some noise to the sensor configuration using Gazebo's `sensor noise model <http://gazebosim.org/tutorials?tut=sensor_noise>`_.
 
 Now, we will set up our IMU sensor plugin according to the description above by adding the following lines before the ``</robot>`` line in our URDF:
 
diff --git a/tutorials/docs/navigation2_with_keepout_filter.rst b/tutorials/docs/navigation2_with_keepout_filter.rst
