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Coverage server docs (ros-navigation#488)
* adding coverage server docs * moving file
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‎behavior_trees/index.rst

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- No integration with automatic door, elevator, or other APIs
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- No user provided custom BT nodes
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- No subtrees for other behaviors like docking, following, etc.
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- No use of other types of planners, like complete coverage (where useful)
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All of this, and more, can be set and configured for your customized navigation logic in Nav2.

‎configuration/index.rst

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packages/configuring-costmaps.rst
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packages/configuring-lifecycle.rst
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packages/configuring-planner-server.rst
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packages/configuring-coverage-server.rst
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packages/configuring-navfn.rst
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packages/configuring-smac-planner.rst
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packages/configuring-thetastar.rst

‎configuration/packages/bt-plugins/actions/CancelCoverage.rst

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.. _bt_cancel_coverage:
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CancelCoverage
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=============
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Used to cancel the goals given to the complete coverage action server. The server address can be remapped using the ``server_name`` input port.
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Input Ports
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-----------
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:service_name:
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====== =======
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Type Default
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------ -------
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string N/A
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====== =======
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Description
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Service name.
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:server_timeout:
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====== =======
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Type Default
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------ -------
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double 10
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====== =======
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Description
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Server timeout (ms).
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Example
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-------
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.. code-block:: xml
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<CancelCoverage server_name="compute_complete_coverage" server_timeout="10"/>

‎configuration/packages/bt-plugins/actions/ComputeCoveragePath.rst

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.. _bt_compute_path_through_poses_action:
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ComputeCoveragePath
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===================
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Invokes the ComputeCoveragePath ROS 2 action server, which is implemented by the opennav_coverage_ server module.
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The server address can be remapped using the ``server_name`` input port.
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This server can take in both cartesian and GPS coordinates and is implemented using the ``Fields2Cover`` library.
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.. _opennav_coverage: https://github.com/open-navigation/opennav_coverage
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Input Ports
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-----------
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:generate_headland:
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===================================== =======
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Type Default
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------------------------------------- -------
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bool true
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===================================== =======
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Description
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Whether or not to generate a headland of the field or polygon to compute coverage of
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:generate_route:
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============================================= =======
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Type Default
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--------------------------------------------- -------
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bool true
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============================================= =======
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Description
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Whether or not to generate a route, e.g. an ordered set of swaths
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:generate_path:
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============== =======
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Type Default
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-------------- -------
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bool true
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============== =======
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Description
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Whether or not to generate a path, e.g. adding path connectors to the ordered route
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:file_field:
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============== =======
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Type Default
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-------------- -------
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string N/A
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============== =======
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Description
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The filepath to the field's GML file to use, if not specifying the field via ``polygons``
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:file_field_id:
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============== =======
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Type Default
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-------------- -------
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int 0
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============== =======
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Description
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The ID of the field in the GML File to use, if multiple exist in the same file. This is the ordered number of the fields in the file.
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:polygons:
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=================================== =======
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Type Default
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----------------------------------- -------
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vector<geometry_msgs::msg::Polygon> N/A
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=================================== =======
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Description
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The polygons of the field, if not specifying via a GML file. The first polygon should be the outermost region, whereas additional polygons are voids.
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:polygons_frame_id:
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=================================== =======
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Type Default
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----------------------------------- -------
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string "map"
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=================================== =======
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Description
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The polygon's frame ID, since the GML file provides the frame ID for its format, this is the frame ID for user-defined input ``polygons``.
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Output Ports
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------------
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:nav_path:
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========================== =======
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Type Default
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-------------------------- -------
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nav_msgs::msg::Path N/A
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========================== =======
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Description
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Path created by action server in the form of a navigation path. Takes in a blackboard variable, e.g. "{path}".
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:coverage_path:
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========================== =======
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Type Default
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-------------------------- -------
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vector<PathComponents> N/A
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========================== =======
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Description
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An ordered set of swaths and turns corresponding to the coverage path when its important to distinguish between turns and swaths for applications. A ``opennav_coverage::utils::PathComponentsIterator`` object is provided to help make this easy to use by iterating through the outputs's path components to return you the next swath and turn one at a time.
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:error_code_id:
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============== =======
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Type Default
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-------------- -------
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uint16 N/A
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============== =======
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Description
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Compute coverage error code. See ``ComputeCoveragePath`` action message for the enumerated set of error codes.
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Example
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-------
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.. code-block:: xml
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<ComputeCoveragePath file_field="{field_filepath}" nav_path="{path}" coverage_path="{cov_path}" server_name="ComputeCoverage" server_timeout="10" error_code_id="{compute_coverage_error_code}"/>
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Note: the blackboard IDs for the path, error code, and more may be adjusted,but need to match the corresponding parameters in the ``CoverageNavigator`` plugin to set on the blackboard for use from the action server.

‎configuration/packages/configuring-bt-navigator.rst

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Consider checking out the :ref:`groot_introduction` tutorial for using Groot to visualize and modify behavior trees.
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Make sure to review all parameters for non-default navigator plugins not discussed on this page (e.g. ``CoverageNavigator`` or custom additions).
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Parameters
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**********
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‎configuration/packages/configuring-bt-xml.rst

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bt-plugins/actions/GoalCheckerSelector.rst
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bt-plugins/actions/NavigateThroughPoses.rst
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bt-plugins/actions/ComputePathThroughPoses.rst
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bt-plugins/actions/ComputeCoveragePath.rst
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bt-plugins/actions/CancelCoverage.rst
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bt-plugins/actions/RemovePassedGoals.rst
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bt-plugins/actions/CancelControl.rst
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bt-plugins/actions/CancelBackUp.rst

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