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

@@ -5,11 +5,59 @@ IsPathValid
 
 Checks to see if the global path is valid. If there is a
 obstacle along the path, the condition returns FAILURE, otherwise
-it returns SUCCESS. 
+it returns SUCCESS.
+
+Input Ports
+-----------
+
+:service_timeout:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 20.0
+  ====== =======
+
+  Description
+    Service response timeout (ms).
+
+:path:
+
+  ==================================== =======
+  Type                                 Default
+  ------------------------------------ -------
+  nav_msgs::msg::Path                  N/A  
+  ==================================== =======
+
+  Description
+    The global path to check for validity.
+
+:max_cost:
+
+  ============== ==========
+  Type           Default
+  -------------- ----------
+  unsigned int   253
+  ============== ==========
+
+  Description
+    The maximum allowable cost for the path to be considered valid.
+
+:consider_unknown_as_obstacle:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false  
+  ====== =======
+
+  Description
+    Whether to consider unknown cost (255) as obstacle.
+
 
 Example
 -------
 
 .. code-block:: xml
 
-    <IsPathValid server_timeout="10" path="{path}"/>
+    <IsPathValid server_timeout="10" path="{path}" max_cost="100" consider_unknown_as_obstacle="false" />

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

@@ -1132,9 +1132,94 @@
 <p>Checks to see if the global path is valid. If there is a
 obstacle along the path, the condition returns FAILURE, otherwise
 it returns SUCCESS.</p>
+<div class="section" id="input-ports">
+<h2>Input Ports<a class="headerlink" href="#input-ports" title="Permalink to this heading"></a></h2>
+<dl class="field-list">
+<dt class="field-odd">service_timeout</dt>
+<dd class="field-odd"><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>double</p></td>
+<td><p>20.0</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Service response timeout (ms).</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">path</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 84%" />
+<col style="width: 16%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>nav_msgs::msg::Path</p></td>
+<td><p>N/A</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>The global path to check for validity.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd">max_cost</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 58%" />
+<col style="width: 42%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>unsigned int</p></td>
+<td><p>253</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>The maximum allowable cost for the path to be considered valid.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">consider_unknown_as_obstacle</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>bool</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Whether to consider unknown cost (255) as obstacle.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</div>
 <div class="section" id="example">
 <h2>Example<a class="headerlink" href="#example" title="Permalink to this heading"></a></h2>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;IsPathValid</span><span class="w"> </span><span class="na">server_timeout=</span><span class="s">&quot;10&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="nt">/&gt;</span>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt">&lt;IsPathValid</span><span class="w"> </span><span class="na">server_timeout=</span><span class="s">&quot;10&quot;</span><span class="w"> </span><span class="na">path=</span><span class="s">&quot;{path}&quot;</span><span class="w"> </span><span class="na">max_cost=</span><span class="s">&quot;100&quot;</span><span class="w"> </span><span class="na">consider_unknown_as_obstacle=</span><span class="s">&quot;false&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
 </pre></div>
 </div>
 </div>