diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
index db7310ac5..0b98ccaa7 100644
--- a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
+++ b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
@@ -80,6 +80,17 @@ Output Ports
   Description
       Path created by action server. Takes in a blackboard variable, e.g. "{path}".
 
+:last_reached_index:
+
+  ========================== =======
+  Type                       Default
+  -------------------------- -------
+  int16                       -1
+  ========================== =======
+
+  Description
+      In the case of a partial plan, index of the last reached pose from the goals list. Otherwise -1 which also corresponds to ComputePathThroughPosesResult::ALL_GOALS if a full plan through all the goals was possible.
+
 :error_code_id:
 
   ============== =======
diff --git a/configuration/packages/configuring-planner-server.rst b/configuration/packages/configuring-planner-server.rst
index f0f99c734..3227f8d66 100644
--- a/configuration/packages/configuring-planner-server.rst
+++ b/configuration/packages/configuring-planner-server.rst
@@ -39,6 +39,17 @@ Parameters
               plugin: "nav2_navfn_planner::NavfnPlanner" # In Iron and older versions, "/" was used instead of "::"
     ..
 
+:allow_partial_planning:
+
+  ============== ========
+  Type           Default
+  -------------- --------
+  bool           false
+  ============== ========
+
+  Description
+    Allows planner server to output partial paths in the presence of obstacles when planning through poses. Otherwise planner fails and aborts the plan request in such a case by default.
+
 :expected_planner_frequency:
 
   ============== ========
@@ -111,6 +122,7 @@ Example
 
     planner_server:
       ros__parameters:
+        allow_partial_planning: false
         expected_planner_frequency: 20.0
         costmap_update_timeout: 1.0
         introspection_mode: "disabled"
diff --git a/migration/Kilted.rst b/migration/Kilted.rst
index f408ea10e..ca5522e48 100644
--- a/migration/Kilted.rst
+++ b/migration/Kilted.rst
@@ -444,6 +444,15 @@ Default value:
 
 - open_loop: false
 
+Partial paths from Planner Server
+---------------------------------
+
+`PR #5687 <https://github.com/ros-navigation/navigation2/pull/5687>`_ adds support for outputting partial paths when planning through poses with the Planner Server. This is an
+alternative behavior to the existing all-or-nothing approach, where either a complete path through all poses is returned, or no path at all if any pose cannot be reached due to obstacles.
+While partial path output will still remain disabled by default, it can be set using the new `allow_partial_planning` dynamic parameter.
+
+When this feature is used, the result from `compute_path_through_poses` action server will now indicate the last reached pose from the goals list in `last_reached_index` field.
+
 Namespace added for primary controller parameters in Rotation Shim Controller
 -----------------------------------------------------------------------------