address error_msg review comments

Signed-off-by: Mike Wake <[email protected]>
ros-navigation · Sep 7, 2024 · ed98c63 · ed98c63
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diff --git a/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst b/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.rst
@@ -72,9 +72,9 @@ In conclusion, this particular BT would serve, both as an example and ready-to-u
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin spin_dist="1.57"/>
+            <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.05"/>
+            <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </RecoveryNode>

diff --git a/...es/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst b/...es/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst
@@ -62,9 +62,9 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin name="SpinRecovery" spin_dist="1.57"/>
+            <Spin name="SpinRecovery" spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait name="WaitRecovery" wait_duration="5.0"/>
-            <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
+            <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </RecoveryNode>

diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
@@ -5,6 +5,18 @@ Jazzy to K-Turtle
 
 Moving from ROS 2 Jazzy to K-Turtle, a number of stability improvements were added that we will not specifically address here.
 
+BehaviorTree error_msg
+**********************
+
+`PR #4459 https://github.com/ros-navigation/navigation2/pull/4459>`_ adds error_msg to all action result messages
+`PR #4460 <https://github.com/ros-navigation/navigation2/pull/4460>`_ captures and propagates error_msg result strings through the bt_navigator.
+
+A new parameter for the BT Navigator "error_code_name_prefixes" was introduced.  It replaces the "error_code_id_names" parameter to support both an error code and an associated error message.  Behavior tree elements that support an "error_code_id" and "error_msg" attribute, must have values that use the corresponding prefix with the suffix "_error_code" and "_error_msg" respectively. The error messages can then be viewed by applications calling Nav2 or its servers for handling specific errors with more contextual information than simply the error code.
+
+.. code-block:: xml
+
+  <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code} error_msg="{compute_path_error_msg}"/>
+
 New Nav2 Loopback Simulator
 ***************************
 
@@ -82,14 +94,3 @@ After:
 
 .. image:: images/fix_flickering_visualization_after.png
 
-BehaviorTree error_msg
-**********************
-
-`PR #4459 https://github.com/ros-navigation/navigation2/pull/4459>`_ adds error_msg to all action result messages
-`PR #4460 <https://github.com/ros-navigation/navigation2/pull/4460>`_ captures and propagates error_msg result strings through the bt_navigator.
-
-A new parameter for the BT Navigator "error_code_name_prefixes" was introduced.  It replaces the "error_code_id_names" parameter to support both an error code and an associated error message.  Behavior tree elements that support an "error_code_id" and "error_msg" attribute, must have values that use the corresponding prefix with the suffix "_error_code" and "_error_msg" respectively.
-
-.. code-block:: xml
-
-  <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code} error_msg="{compute_path_error_msg}"/>