From e41a18b31a71932c62dba00ebbb1c73433ab63bc Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Wed, 15 Nov 2023 10:10:40 -0800
Subject: [PATCH] Update Iron.rst

---
 migration/Iron.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/migration/Iron.rst b/migration/Iron.rst
index 09b00299d5..6ef206e923 100644
--- a/migration/Iron.rst
+++ b/migration/Iron.rst
@@ -161,4 +161,7 @@ Before this change, only the active BT node was halted when finishing the action
 
 Also updated nav2_behavior_tree::BtActionServer::haltTree() to use the same. It is used nowhere in nav2 but is useful for external users (like me) that want for instance to halt the tree on preemption.
 
+Global Frame Removed from 2 BT Nodes
+************************************
 
+The Global Frame was removed from ``RemovePassedGoals`` and ``GoalReached`` BT nodes and instead using the ``frame_id`` of the goal's headers for transformation.