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6 changes: 4 additions & 2 deletions _sources/configuration/packages/configuring-bt-navigator.rst.txt
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Description
Path to the default behavior tree XML description for ``NavigateToPose``, see :ref:`configuring_behavior_tree_xml` for details on this file.
Used to be ``default_bt_xml_filename`` pre-Galactic.
You can use substitution to specify file path like ``$(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml``.


:default_nav_through_poses_bt_xml:
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Description
Path to the default behavior tree XML description for ``NavigateThroughPoses``, see :ref:`configuring_behavior_tree_xml` for details on this file. New to Galactic after ``NavigateThroughPoses`` was added.
You can use substitution to specify file path like ``$(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml``.


:plugin_lib_names:
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global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml
default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml
default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
goal_blackboard_id: goal
goals_blackboard_id: goals
path_blackboard_id: path
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Move Error Code Enumerations
****************************

`PR #3693 <https://github.com/ros-planning/navigation2/pull/3693>`_ moves the enumeration codes from the goal to the result section.
`PR #3693 <https://github.com/ros-planning/navigation2/pull/3693>`_ moves the enumeration codes from the goal to the result section.

Substitution in parameter file
******************************

Enabled substitution in parameter file. For example, you can write the following

.. code-block:: yaml
bt_navigator:
ros__parameters:
default_nav_to_pose_bt_xml: $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
For more information about substitutions syntax, see `here <https://docs.ros.org/en/rolling/How-To-Guides/Launch-files-migration-guide.html#substitutions>`_
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global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml
default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml
default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
goal_blackboard_id: goal
goals_blackboard_id: goals
path_blackboard_id: path
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