Added documentation for SmootherSelector (#374)

ros-navigation · Nov 18, 2022 · a7033d0 · a7033d0
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diff --git a/configuration/packages/bt-plugins/actions/SmootherSelector.rst b/configuration/packages/bt-plugins/actions/SmootherSelector.rst
@@ -0,0 +1,58 @@
+.. _bt_smoother_selector_node:
+
+SmootherSelector
+==================
+
+It is used to select the Smoother that will be used by the Smoother server. It subscribes to the ``smoother_selector`` topic to receive command messages with the name of the Smoother to be used. It is commonly used before of the FollowPathAction. If none is provided on the topic, the ``default_smoother`` is used.
+
+Any publisher to this topic needs to be configured with some QoS defined as ``reliable`` and ``transient local``.
+
+.. _bt_navigator: https://github.com/ros-planning/navigation2/tree/main/nav2_bt_navigator
+
+Input Ports
+-----------
+
+:topic_name:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string smoother_selector  
+  ====== =======
+
+  Description
+    	The name of the topic used to received select command messages. This is used to support multiple SmootherSelector nodes. 
+
+:default_smoother:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A  
+  ====== =======
+
+  Description
+    	The default value for the selected Smoother if no message is received from the input topic.
+
+
+Output Ports
+------------
+
+:selected_smoother:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A  
+  ====== =======
+
+  Description
+    	The output selected Smoother id.
+
+
+Example
+-------
+
+.. code-block:: xml
+
+  <SmootherSelector selected_smoother="{selected_smoother}" default_smoother="SimpleSmoother" topic_name="smoother_selector"/>
diff --git a/configuration/packages/configuring-bt-xml.rst b/configuration/packages/configuring-bt-xml.rst
@@ -35,6 +35,7 @@ Action Plugins
   bt-plugins/actions/TruncatePathLocal.rst
   bt-plugins/actions/PlannerSelector.rst
   bt-plugins/actions/ControllerSelector.rst
+  bt-plugins/actions/SmootherSelector.rst
   bt-plugins/actions/GoalCheckerSelector.rst
   bt-plugins/actions/NavigateThroughPoses.rst
   bt-plugins/actions/ComputePathThroughPoses.rst

diff --git a/migration/Humble.rst b/migration/Humble.rst
@@ -81,3 +81,7 @@ Adding a new smoother algorithm, the Savitzky-Golay smoother to the smoother ser
 Changes to Map yaml file path for map_server node in Launch
 ***********************************************************
 `PR #3174 <https://github.com/ros-planning/navigation2/pull/3174>`_ adds a way to set the path to map yaml file for the map_server node either from the yaml file or using the launch configuration parameter ``map`` giving priority to the launch configuration parameter. ``yaml_filename`` is no longer strictly required to be present in ``nav2_params.yaml``.
+
+SmootherSelector BT Node
+************************
+`PR #3283 <https://github.com/ros-planning/navigation2/pull/3283>`_ adds a BT node to set the smoother based on a topic or a default. See the configuration guide :ref:`SimpleSmoother` for more details. 
diff --git a/plugins/index.rst b/plugins/index.rst
@@ -332,6 +332,10 @@ Behavior Tree Nodes
 |                                            |                     | topic input, otherwises uses a default   |
 |                                            |                     | goal checker id                          |
 +--------------------------------------------+---------------------+------------------------------------------+
+| `Smoother Selector`_                       | Owen Hooper         | Selects the smoother based on a          |
+|                                            |                     | topic input, otherwises uses a default   |
+|                                            |                     | smoother id                              |
++--------------------------------------------+---------------------+------------------------------------------+
 | `Navigate Through Poses`_                  | Steve Macenski      | BT Node for other BehaviorTree.CPP BTs   |
 |                                            |                     | to call Nav2's NavThroughPoses action    |
 |                                            |                     |                                          |