Improve descriptions

panther_manager/include/panther_manager/behavior_tree_utils.hpp

@@ -26,6 +26,11 @@
 #include "behaviortree_cpp/utils/shared_library.h"
 #include "behaviortree_ros2/plugins.hpp"
 
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/convert.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <geometry_msgs/msg/pose_stamped.hpp>
+
 namespace panther_manager::behavior_tree_utils
 {
 
@@ -112,6 +117,58 @@ inline std::vector<float> convertFromString<std::vector<float>>(StringView str)
   return output;
 }
 
+/**
+ * @brief Converts a string to a PoseStamped message.
+ *
+ * The string format should be "roll,pitch,yaw,x,y,z,frame_id" where:
+ *  - roll, pitch, yaw: Euler angles in radians.
+ *  - x, y, z: Position coordinates.
+ *  - frame_id: Coordinate frame ID (string).
+ *
+ * @param str The string to convert.
+ * @return geometry_msgs::msg::PoseStamped The converted PoseStamped message.
+ *
+ * @throw BT::RuntimeError Throws if the input is invalid or cannot be parsed.
+ */
+template <>
+inline geometry_msgs::msg::PoseStamped convertFromString<geometry_msgs::msg::PoseStamped>(
+  StringView str)
+{
+  auto parts = splitString(str, ';');
+
+  if (parts.size() != 7) {
+    throw BT::RuntimeError(
+      "Invalid input for PoseStamped. Expected 7 values: roll;pitch;yaw;x;y;z;frame_id");
+  }
+
+  geometry_msgs::msg::PoseStamped pose_stamped;
+
+  try {
+    double roll = convertFromString<double>(parts[0]);
+    double pitch = convertFromString<double>(parts[1]);
+    double yaw = convertFromString<double>(parts[2]);
+
+    // Orientation form R,P,Y to Quaternion
+    tf2::Quaternion quaternion;
+    quaternion.setRPY(roll, pitch, yaw);
+    pose_stamped.pose.orientation = tf2::toMsg(quaternion);
+
+    // Position (x, y, z)
+    pose_stamped.pose.position.x = convertFromString<double>(parts[3]);
+    pose_stamped.pose.position.y = convertFromString<double>(parts[4]);
+    pose_stamped.pose.position.z = convertFromString<double>(parts[5]);
+
+    // Frame ID and current time
+    pose_stamped.header.frame_id = parts[6].to_string();
+    pose_stamped.header.stamp = rclcpp::Clock().now();
+
+  } catch (const std::exception & e) {
+    throw BT::RuntimeError("Failed to convert string to PoseStamped: " + std::string(e.what()));
+  }
+
+  return pose_stamped;
+}
+
 }  // namespace BT
 
 #endif  // PANTHER_MANAGER_BEHAVIOR_TREE_UTILS_HPP_

panther_manager/include/panther_manager/plugins/action/call_set_bool_service_node.hpp

@@ -36,7 +36,8 @@ class CallSetBoolService : public BT::RosServiceNode<std_srvs::srv::SetBool>
 
   static BT::PortsList providedPorts()
   {
-    return providedBasicPorts({BT::InputPort<bool>("data", "true / false value")});
+    return providedBasicPorts(
+      {BT::InputPort<bool>("data", "Boolean value to send with the service request.")});
   }
 
   virtual bool setRequest(typename Request::SharedPtr & request) override;

panther_manager/include/panther_manager/plugins/action/call_set_led_animation_service_node.hpp

@@ -36,11 +36,11 @@ class CallSetLedAnimationService : public BT::RosServiceNode<panther_msgs::srv::
 
   static BT::PortsList providedPorts()
   {
-    return providedBasicPorts({
-      BT::InputPort<unsigned>("id", "animation ID"),
-      BT::InputPort<std::string>("param", "optional parameter"),
-      BT::InputPort<bool>("repeating", "indicates if animation should repeat"),
-    });
+    return providedBasicPorts(
+      {BT::InputPort<unsigned>("id", "Animation ID to trigger."),
+       BT::InputPort<std::string>("param", "Optional animation parameter."),
+       BT::InputPort<bool>(
+         "repeating", "Specifies whether the animation should repeated continuously.")});
   }
 
   virtual bool setRequest(typename Request::SharedPtr & request) override;

panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp

@@ -48,20 +48,31 @@ class DockRobot : public BT::RosActionNode<opennav_docking_msgs::action::DockRob
 
   static BT::PortsList providedPorts()
   {
-    return providedBasicPorts({
-      BT::InputPort<bool>("use_dock_id", true, "Whether to use the dock's ID or dock pose fields"),
-      BT::InputPort<std::string>("dock_id", "Dock ID or name to use"),
-      BT::InputPort<std::string>("dock_type", "The dock plugin type, if using dock pose"),
-      BT::InputPort<float>(
-        "max_staging_time", 1000.0, "Maximum time to navigate to the staging pose"),
-      BT::InputPort<bool>(
-        "navigate_to_staging_pose", true, "Whether to autonomously navigate to staging pose"),
+    return providedBasicPorts(
+      {BT::InputPort<bool>(
+         "use_dock_id", true, "Determines whether to use the dock's ID or dock pose fields."),
+       BT::InputPort<std::string>(
+         "dock_id",
+         "Specifies the dock's ID or name from the dock database (used if 'use_dock_id' is true)."),
+       BT::InputPort<geometry_msgs::msg::PoseStamped>(
+         "dock_pose",
+         "Specifies the dock's pose (used if 'use_dock_id' is false). Format: "
+         "\"roll,pitch,yaw,x,y,z,frame_id\""),
+       BT::InputPort<std::string>(
+         "dock_type",
+         "Defines the type of dock being used when docking via pose. Not needed if only one dock "
+         "type is available."),
+       BT::InputPort<float>(
+         "max_staging_time", 120.0,
+         "Maximum time allowed (in seconds) for navigating to the dock's staging pose."),
+       BT::InputPort<bool>(
+         "navigate_to_staging_pose", true,
+         "Specifies whether the robot should autonomously navigate to the staging pose."),
 
-      BT::OutputPort<DockRobotActionResult::_error_code_type>(
-        "error_code", "Contextual error code, if any"),
-      BT::OutputPort<DockRobotActionResult::_num_retries_type>(
-        "num_retries", "Number of retries attempted"),
-    });
+       BT::OutputPort<DockRobotActionResult::_error_code_type>(
+         "error_code", "Returns an error code indicating the reason for failure, if any."),
+       BT::OutputPort<DockRobotActionResult::_num_retries_type>(
+         "num_retries", "Reports the number of retry attempts made during the docking process.")});
   }
 };
 

panther_manager/include/panther_manager/plugins/action/shutdown_hosts_from_file_node.hpp

@@ -39,10 +39,8 @@ class ShutdownHostsFromFile : public ShutdownHosts
 
   static BT::PortsList providedPorts()
   {
-    return {
-      BT::InputPort<std::string>(
-        "shutdown_hosts_file", "global path to YAML file with hosts to shutdown"),
-    };
+    return {BT::InputPort<std::string>(
+      "shutdown_hosts_file", "Absolute path to a YAML file listing the hosts to shut down.")};
   }
 
 private:

panther_manager/include/panther_manager/plugins/action/shutdown_single_host_node.hpp

@@ -38,14 +38,17 @@ class ShutdownSingleHost : public ShutdownHosts
   static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::string>("ip", "ip of the host to shutdown"),
-      BT::InputPort<std::string>("username", "user to log into while executing shutdown command"),
-      BT::InputPort<unsigned>("port", "SSH communication port"),
-      BT::InputPort<std::string>("command", "command to execute on shutdown"),
-      BT::InputPort<float>("timeout", "time in seconds to wait for host to shutdown"),
+      BT::InputPort<std::string>("ip", "IP address of the host to shut down."),
+      BT::InputPort<std::string>(
+        "username", "Username to use for logging in and executing the shutdown command."),
+      BT::InputPort<unsigned>("port", "SSH port used for communication (default is usually 22)."),
+      BT::InputPort<std::string>("command", "Shutdown command to execute on the remote host."),
+      BT::InputPort<float>(
+        "timeout", "Maximum time (in seconds) to wait for the host to shut down."),
       BT::InputPort<bool>(
-        "ping_for_success", "ping host until it is not available or timeout is reached"),
-    };
+        "ping_for_success",
+        "Whether to continuously ping the host until it becomes unreachable or the timeout is "
+        "reached.")};
   }
 
 private:

panther_manager/include/panther_manager/plugins/action/signal_shutdown_node.hpp

@@ -35,7 +35,7 @@ class SignalShutdown : public BT::SyncActionNode
   static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::string>("reason", "", "reason to shutdown robot"),
+      BT::InputPort<std::string>("reason", "", "Reason to shutdown robot."),
     };
   }
 

panther_manager/include/panther_manager/plugins/action/undock_robot_node.hpp

@@ -49,14 +49,17 @@ class UndockRobot : public BT::RosActionNode<opennav_docking_msgs::action::Undoc
 
   static BT::PortsList providedPorts()
   {
-    return providedBasicPorts({
-      BT::InputPort<std::string>(
-        "dock_type", "The dock plugin type, if not previous instance used for docking"),
-      BT::InputPort<float>(
-        "max_undocking_time", 30.0, "Maximum time to get back to the staging pose"),
+    return providedBasicPorts(
+      {BT::InputPort<std::string>(
+         "dock_type",
+         "Specifies the dock plugin type to use for undocking. If empty, the previously used dock "
+         "type is assumed."),
+       BT::InputPort<float>(
+         "max_undocking_time", 30.0,
+         "Maximum allowable time (in seconds) to undock and return to the staging pose."),
 
-      BT::OutputPort<UndockRobotActionResult::_error_code_type>("error_code", "Error code"),
-    });
+       BT::OutputPort<UndockRobotActionResult::_error_code_type>(
+         "error_code", "Returns an error code if the undocking process fails.")});
   }
 };
 

panther_manager/include/panther_manager/plugins/condition/check_bool_msg.hpp

@@ -45,7 +45,8 @@ class CheckBoolMsg : public BT::RosTopicSubNode<std_msgs::msg::Bool>
 
   static BT::PortsList providedPorts()
   {
-    return providedBasicPorts({BT::InputPort<bool>("data", "state of data to accept a condition")});
+    return providedBasicPorts(
+      {BT::InputPort<bool>("data", "Specifies the expected state of the data field.")});
   }
 };
 

panther_manager/include/panther_manager/plugins/condition/check_joy_msg.hpp

@@ -45,9 +45,9 @@ class CheckJoyMsg : public BT::RosTopicSubNode<sensor_msgs::msg::Joy>
   static BT::PortsList providedPorts()
   {
     return providedBasicPorts(
-      {BT::InputPort<std::vector<float>>("axes", "state of axes to accept a condition"),
-       BT::InputPort<std::vector<int>>("buttons", "state of buttons to accept a condition"),
-       BT::InputPort<double>("timeout", 0.0, "max time delay to accept a condition")});
+      {BT::InputPort<std::vector<float>>("axes", "", "Specifies the expected state of the axes field. An empty string (\"\") means the value is ignored."),
+       BT::InputPort<std::vector<int>>("buttons", "", "Specifies the expected state of the buttons field. An empty string (\"\") means the value is ignored."),
+       BT::InputPort<double>("timeout", 0.0, "Maximum allowable time delay to accept the condition."});
   }
 
 private:

panther_manager/include/panther_manager/plugins/decorator/tick_after_timeout_node.hpp

@@ -31,7 +31,8 @@ class TickAfterTimeout : public BT::DecoratorNode
 
   static BT::PortsList providedPorts()
   {
-    return {BT::InputPort<float>("timeout", "time in s to wait before ticking child again")};
+    return {BT::InputPort<float>(
+      "timeout", "Time in seconds to wait before ticking the child node again")};
   }
 
 private: