Add documentation of WayPointTaskExecutor plugin to navigation.ros.org (#91)

* nav2_waypoint_follower; add task executor plugin info.

Signed-off-by: jediofgever <[email protected]>

* waypoint task executor plugin; corrections on documentation and configuration

Signed-off-by: jediofgever <[email protected]>

* docs and info related to PR #1993, ready to review

Signed-off-by: jediofgever <[email protected]>

Author: jediofgever

configuration/packages/configuring-waypoint-follower.rst

@@ -36,6 +36,50 @@ Parameters
   Description
     Rate to check for results from current navigation task.
 
+:waypoint_task_executor_plugin:
+
+  ============== ========================
+  Type           Default
+  -------------- ------------------------
+  string         'waypoint_task_executor'
+  ============== ========================
+
+  Description
+    A plugin to define tasks to be executed when robot arrives to a waypoint.
+
+  Note
+    The plugin namespace defined needs to have a :code:`plugin` parameter defining the type of plugin to be loaded in the namespace.
+
+    Example:
+
+    .. code-block:: yaml
+
+        waypoint_follower:
+          ros__parameters:
+            waypoint_task_executor_plugin: "waypoint_task_executor"
+            waypoint_task_executor:
+              plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+    ..
+
+Provided Plugins
+****************
+ The plugins listed below are inside the ``nav2_waypoint_follower`` namespace.
+
+.. toctree::
+  :maxdepth: 1
+
+  nav2_waypoint_follower-plugins/wait_at_waypoint.rst
+
+
+Default Plugins
+***************
+
+  ========================== ===================================================
+  Namespace                  Plugin
+  -------------------------- ---------------------------------------------------
+  "waypoint_task_executor"   "nav2_waypoint_follower::WaitAtWaypoint"
+  ========================== ===================================================
+
 Example
 *******
 .. code-block:: yaml
@@ -44,3 +88,9 @@ Example
       ros__parameters:
         loop_rate: 20
         stop_on_failure: false
+        waypoint_task_executor_plugin: "waypoint_task_executor"
+          waypoint_task_executor:
+            plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+              enabled: True
+              waypoint_pause_duration: 0
+

configuration/packages/nav2_waypoint_follower-plugins/wait_at_waypoint.rst

@@ -0,0 +1,35 @@
+.. _configuring_nav2_waypoint_follower_waypoint_task_execution_plugin:
+
+WaitAtWaypoint
+=================
+
+Lets robot to pause for a specified amount of time after reaching each waypoints.
+
+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>``.waypoint_pause_duration:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  int            0           
+  ============== =============================
+
+  Description
+    Amount of time in milliseconds, for robot to sleep/wait after each waypoint is reached. If zero, robot will directly continue to next waypoint.
+

migration/Foxy.rst

@@ -24,6 +24,32 @@ 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.
 
+New Plugins
+***********
+
+``nav2_waypoint_follower`` has an action server that takes in a list of waypoints to follow and follow them in order. In some cases we might want robot to 
+perform some tasks/behaviours at arrivals of these waypoints. In order to perform such tasks, a generic plugin interface `WaypointTaskExecutor` has been added to ``nav2_core``.
+Users can inherit from this interface to implement their own plugin to perform more specific tasks at waypoint arrivals for their needs. An example implementation `WaitAtWaypoint`, is included in 
+``nav2_waypoint_follower`` as a run-time loadable plugin. `WaitAtWaypoint` simply lets robot to pause for a specified amount of time in milliseconds, at waypoint arrivals. Loading a plugin of this type
+is done through `nav2_bringup/params/nav2_param.yaml`, by specifying plugin's name, type and it's used parameters. 
+
+For instance; 
+.. code-block:: yaml
+
+    waypoint_follower:
+    ros__parameters:
+        loop_rate: 20
+        stop_on_failure: false
+        waypoint_task_executor_plugin: "waypoint_task_executor"   
+        waypoint_task_executor:
+            plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+            enabled: True
+            waypoint_pause_duration: 0
+
+Original GitHub tickets:
+
+- `WaypointTaskExecutor <https://github.com/ros-planning/navigation2/pull/1993>`_
+
 Costmap Filters
 ***************
 

plugins/index.rst

@@ -270,3 +270,14 @@ Behavior Tree Nodes
 .. _Pipeline Sequence: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp
 .. _Recovery: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/control/recovery_node.cpp
 .. _Round Robin: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/control/round_robin_node.cpp
+
++---------------------------------+------------------------+----------------------------------+
+| Waypoint Follower Plugin Name   |         Creator        |       Description                |
++=================================+========================+==================================+
+| `Waypoint Task Executor`_       | Fetullah Atas          | A plugin interface to define     |
+|                                 |                        | specific tasks to be executed on |
+|                                 |                        | waypoint arrivals.               |
+|                                 |                        |                                  |            
++---------------------------------+----------------------------------+------------------------+
+
+.. _Waypoint Task Executor: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp