Add table for input ports in condition nodes

configuration/packages/bt-plugins/conditions/InitialPoseReceived.rst

@@ -10,8 +10,8 @@ Input Ports
 
 :initial_pose_received:
 
-  =====  ========================
-  Type   Default
+  ===== =========================
+  Type  Default
   ----- -------------------------
   bool  "{initial_pose_received}"
   ===== =========================

configuration/packages/bt-plugins/conditions/IsBatteryCharging.rst

@@ -6,6 +6,19 @@ IsBatteryCharging
 Checks if the battery is charging by subscribing to a ``sensor_msgs/BatteryState`` topic and checking if the power_supply_status is ``POWER_SUPPLY_STATUS_CHARGING``.
 Returns SUCCESS in that case, FAILURE otherwise.
 
+Input Ports
+-----------
+
+:battery_topic:
+    =============== ===================
+    Type            Default
+    --------------- -------------------
+    string          "/battery_status"
+    =============== ===================
+
+    Description
+        Topic for battery info.
+
 Example
 -------
 

configuration/packages/bt-plugins/conditions/IsBatteryLow.rst

@@ -7,6 +7,39 @@ Checks if battery is low by subscribing to a ``sensor_msgs/BatteryState`` topic
 By default percentage (in range 0 to 1) is used to check for low battery. Set the ``is_voltage`` parameter to `true` to use voltage.
 Returns SUCCESS when battery percentage/voltage is lower than the specified value, FAILURE otherwise.
 
+Input Ports
+-----------
+
+:min_battery:
+    ====== =======
+    Type   Default
+    ------ -------
+    double 0.0
+    ====== =======
+
+    Description
+        Min battery percentage or voltage before triggering.
+
+:battery_topic:
+    =============== ===================
+    Type            Default
+    --------------- -------------------
+    string          "/battery_status"
+    =============== ===================
+
+    Description
+        Topic for battery info.
+
+:is_voltage:
+    ====== =======
+    Type   Default
+    ------ -------
+    bool   false
+    ====== =======
+
+    Description
+        If true voltage will be used to check for low battery.
+
 Example
 -------
 

configuration/packages/bt-plugins/conditions/PathExpiringTimer.rst

@@ -6,6 +6,30 @@ PathExpiringTimer
 Checks if the timer has expired. Returns success if the timer has expired, otherwise it returns failure.
 The timer will reset if the path gets updated.
 
+Input Ports
+-----------
+
+:seconds:
+  ====== =======
+  Type   Default
+  ------ -------
+  double 1.0
+  ====== =======
+
+  Description
+    Time to check if expired.
+
+:path:
+  ==================================== =======
+  Type                                 Default
+  ------------------------------------ -------
+  nav_msgs::msg::Path                  N/A
+  ==================================== =======
+
+  Description
+    Check if path has been updated to enable timer reset.
+
+
 Example
 -------