From 1221d0fdf2592e03b9b35abc5b73a570b90c09ab Mon Sep 17 00:00:00 2001 From: Johannes Meyer Date: Wed, 15 Nov 2023 19:09:23 +0100 Subject: [PATCH] Remove global_frame input port from the GoalReached and RemovePassedGoals behavior nodes (https://github.com/ros-planning/navigation2/pull/3917) (#489) --- .../bt-plugins/actions/RemovePassedGoals.rst | 11 ----------- .../packages/bt-plugins/conditions/GoalReached.rst | 14 ++------------ 2 files changed, 2 insertions(+), 23 deletions(-) diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst b/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst index 0cdc8150f..426b5b651 100644 --- a/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst +++ b/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst @@ -20,17 +20,6 @@ Input Ports Description The radius (m) in proximity to the viapoint for the BT node to remove from the list as having passed. -:global_frame: - - ====== ======= - Type Default - ------ ------- - string "map" - ====== ======= - - Description - Reference frame. - :robot_base_frame: ====== =========== diff --git a/configuration/packages/bt-plugins/conditions/GoalReached.rst b/configuration/packages/bt-plugins/conditions/GoalReached.rst index 7402951ae..3fea84401 100644 --- a/configuration/packages/bt-plugins/conditions/GoalReached.rst +++ b/configuration/packages/bt-plugins/conditions/GoalReached.rst @@ -48,17 +48,7 @@ Input Ports Description Destination to check. Takes in a blackboard variable, e.g. "{goal}". - -:global_frame: - - ====== ======= - Type Default - ------ ------- - string "map" - ====== ======= - - Description - Reference frame. + The global reference frame is taken from the goal's header `frame_id` field. :robot_base_frame: @@ -76,4 +66,4 @@ Example .. code-block:: xml - +