Remove use of default_bt_xml_filename (#643)

Signed-off-by: Maurice-1235 <[email protected]>

Author: mini-1235

plugin_tutorials/docs/writing_new_bt_plugin.rst

@@ -192,7 +192,8 @@ In order for the BT Navigator node to discover the plugin we've just registered,
       global_frame: map
       robot_base_frame: base_link
       odom_topic: /odom
-      default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+      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
       plugin_lib_names:
       - nav2_back_up_action_bt_node # other plugin 
       - nav2_wait_action_bt_node    # our new plugin

tutorials/docs/navigation2_dynamic_point_following.rst

@@ -144,7 +144,7 @@ Optionally, you can remap this topic in your rviz configuration file to ``goal_u
 
 Start Nav2 in one terminal:
 
-``ros2 launch nav2_bringup tb3_simulation_launch.py default_bt_xml_filename:=/path/to/bt.xml``
+``ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False``
 
 Open RViz and, after initialize the robot position, command the robot to navigate to any position. Use the button clicked point to simulate a new detection of the object of interest, as shown in the video in the head of this tutorial.