[Smac Planner] Enable goal orientation non-specificity

configuration/packages/smac/configuring-smac-hybrid.rst

@@ -378,6 +378,17 @@ Parameters
   Description
     Number of times to recursively attempt to smooth, must be ``>= 1``.
 
+:``<name>``.goal_heading_mode:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  string            "DEFAULT"   
+  ============== ===========================
+
+  Description
+    Goal heading mode enum string to plan goal with multiple orientation. Options are "DEFAULT", "BIDIRECTIONAL" and "ALL_DIRECTION
+
 Example
 *******
 .. code-block:: yaml
@@ -414,6 +425,7 @@ Example
         use_quadratic_cost_penalty: False
         downsample_obstacle_heuristic: True
         allow_primitive_interpolation: False
+        goal_heading_mode: "DEFAULT"        # DEFAULT, BIDIRECTIONAL, ALL_DIRECTION
         smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
 
         smoother:

configuration/packages/smac/configuring-smac-lattice.rst

@@ -328,6 +328,18 @@ Parameters
   Description
     Number of times to recursively attempt to smooth, must be ``>= 1``.
 
+:``<name>``.goal_heading_mode:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  string            "DEFAULT"   
+  ============== ===========================
+
+  Description
+    Goal heading mode enum string to plan goal with multiple orientation. Options are "DEFAULT", "BIDIRECTIONAL" and "ALL_DIRECTION
+
+
 Example
 *******
 .. code-block:: yaml
@@ -358,6 +370,7 @@ Example
         lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
         cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
         allow_reverse_expansion: false      # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
+        goal_heading_mode: "DEFAULT"        # DEFAULT, BIDIRECTIONAL, ALL_DIRECTION
         smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
         smoother:
           max_iterations: 1000

migration/Iron.rst

@@ -282,3 +282,29 @@ New interface for ``GlobalPlanner::createPlan``:
 
 This is implemented for all the planners in the stack, you can check them for the example use of ``cancel_checker`` function (simply check ``cancel_checker()``).
 Smac and Theta* planners have a new parameter ``terminal_checking_interval`` which is the frequency of the cancel or timeout checking in terms of number of iterations.
+
+Enable goal orientation non-specificity
+*******************************************
+`PR #4148 <https://github.com/ros-planning/navigation2/pull/4127>`_  introduces a new parameter(goal_heading_mode) in the smac planner, specifically the smac planner hybrid and smac planner lattice that allows for the
+planner to plan to a goal with multiple orientations and return the best path in just one planning call. This is useful for robots that can approach a goal from multiple orientations and the user does not want to plan to each orientation separately.
+
+Here is an Example of the smacHybrid planner with the default goal_heading_mode to see the difference in the planned path.
+
+.. image:: images/smacHybrid_with_default_goal_heading_mode.gif
+    :width: 700px
+    :alt: Navigation2 with smacHybrid planner with default goal_heading_mode
+    :align: center
+
+Here is an Example of the smacHybrid planner with the bidirectional goal_heading_mode to see the difference in the planned path.
+
+.. image:: images/smacHybrid_with_bidirectional_goal_heading_mode.gif
+    :width: 700px
+    :alt: Navigation2 with smacHybrid planner with bidirectional goal_heading_mode
+    :align: center
+
+Here is an Example of the smacHybrid planner with the all_directions goal_heading_mode to see the difference in the planned path.
+
+.. image:: images/smacHybrid_with_all_direction_goal_heading_mode.gif
+    :width: 700px
+    :alt: Navigation2 with smacHybrid planner with all_direction goal_heading_mode
+    :align: center