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Signed-off-by: navigation2-ci <[email protected]>

_sources/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst.txt

@@ -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:
 
   ====== ===========

_sources/configuration/packages/bt-plugins/conditions/GoalReached.rst.txt

@@ -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
 
-  <GoalReached goal="{goal}" global_frame="map" robot_base_frame="base_link"/>
+  <GoalReached goal="{goal}" robot_base_frame="base_link"/>

configuration/packages/bt-plugins/actions/RemovePassedGoals.html

@@ -1028,29 +1028,9 @@ <h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to thi
 </dd>
 </dl>
 </dd>
-<dt class="field-even">global_frame</dt>
+<dt class="field-even">robot_base_frame</dt>
 <dd class="field-even"><table class="docutils align-default">
 <colgroup>
-<col style="width: 46%" />
-<col style="width: 54%" />
-</colgroup>
-<tbody>
-<tr class="row-odd"><td><p>Type</p></td>
-<td><p>Default</p></td>
-</tr>
-<tr class="row-even"><td><p>string</p></td>
-<td><p>“map”</p></td>
-</tr>
-</tbody>
-</table>
-<dl class="simple">
-<dt>Description</dt><dd><p>Reference frame.</p>
-</dd>
-</dl>
-</dd>
-<dt class="field-odd">robot_base_frame</dt>
-<dd class="field-odd"><table class="docutils align-default">
-<colgroup>
 <col style="width: 35%" />
 <col style="width: 65%" />
 </colgroup>
@@ -1068,8 +1048,8 @@ <h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to thi
 </dd>
 </dl>
 </dd>
-<dt class="field-even">input_goals</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd">input_goals</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 84%" />
 <col style="width: 16%" />

configuration/packages/bt-plugins/conditions/GoalReached.html

@@ -1061,33 +1061,14 @@ <h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to thi
 </tbody>
 </table>
 <dl class="simple">
-<dt>Description</dt><dd><p>Destination to check. Takes in a blackboard variable, e.g. “{goal}”.</p>
+<dt>Description</dt><dd><p>Destination to check. Takes in a blackboard variable, e.g. “{goal}”.
+The global reference frame is taken from the goal’s header <cite>frame_id</cite> field.</p>
 </dd>
 </dl>
 </dd>
-<dt class="field-even">global_frame</dt>
+<dt class="field-even">robot_base_frame</dt>
 <dd class="field-even"><table class="docutils align-default">
 <colgroup>
-<col style="width: 46%" />
-<col style="width: 54%" />
-</colgroup>
-<tbody>
-<tr class="row-odd"><td><p>Type</p></td>
-<td><p>Default</p></td>
-</tr>
-<tr class="row-even"><td><p>string</p></td>
-<td><p>“map”</p></td>
-</tr>
-</tbody>
-</table>
-<dl class="simple">
-<dt>Description</dt><dd><p>Reference frame.</p>
-</dd>
-</dl>
-</dd>
-<dt class="field-odd">robot_base_frame</dt>
-<dd class="field-odd"><table class="docutils align-default">
-<colgroup>
 <col style="width: 35%" />
 <col style="width: 65%" />
 </colgroup>
@@ -1108,7 +1089,7 @@ <h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to thi
 </dl>
 <div class="section" id="id1">
 <h3>Example<a class="headerlink" href="#id1" title="Permalink to this headline">¶</a></h3>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;GoalReached</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">global_frame=</span><span class="s">&quot;map&quot;</span><span class="w"> </span><span class="na">robot_base_frame=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;GoalReached</span><span class="w"> </span><span class="na">goal=</span><span class="s">&quot;{goal}&quot;</span><span class="w"> </span><span class="na">robot_base_frame=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
 </pre></div>
 </div>
 </div>