Nav2 default-parameter changelog (demo)
· 029fab7 · 2 watched files, +145/−102

Parameter changes: bt_navigator.plugin_lib_names [nav2_compute_path_to_pose_action_bt_no…→[nav2_compute_path_to_pose_action_bt_no… and local_costmap.local_costmap.plugins ["obstacle_layer", "inflation_layer"]→["voxel_layer", "inflation_layer"].

params
  • Parameter defaults changed: bt_navigator.plugin_lib_names: [nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node] → [nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node] (in nav2_bringup/params/nav2_multirobot_params_1.yaml and nav2_bringup/params/nav2_multirobot_params_2.yaml) and local_costmap.local_costmap.plugins: ["obstacle_layer", "inflation_layer"] → ["voxel_layer", "inflation_layer"] (in nav2_bringup/params/nav2_multirobot_params_1.yaml and nav2_bringup/params/nav2_multirobot_params_2.yaml).
  • Added 8 flags: local_costmap.local_costmap.voxel_layer.enabled (default on), local_costmap.local_costmap.voxel_layer.publish_voxel_map (default off), local_costmap.local_costmap.voxel_layer.scan.clearing (default on), local_costmap.local_costmap.voxel_layer.scan.marking (default on), local_costmap.local_costmap.voxel_layer.enabled (default on), local_costmap.local_costmap.voxel_layer.publish_voxel_map (default off), local_costmap.local_costmap.voxel_layer.scan.clearing (default on) and local_costmap.local_costmap.voxel_layer.scan.marking (default on).
  • Added 45 parameters: bt_navigator.error_code_names = [compute_path_error_code, follow_path_er, global_costmap.global_costmap.inflation_layer.cost_scaling_factor = 3.0, global_costmap.global_costmap.inflation_layer.inflation_radius = 0.55, global_costmap.global_costmap.inflation_layer.plugin = "nav2_costmap_2d::InflationLayer", global_costmap.global_costmap.obstacle_layer.observation_sources = scan, global_costmap.global_costmap.obstacle_layer.plugin = "nav2_costmap_2d::ObstacleLayer", global_costmap.global_costmap.obstacle_layer.scan.data_type = "LaserScan", global_costmap.global_costmap.plugins = ["static_layer", "obstacle_layer", "infl and 37 more.
  • Removed 6 flags: local_costmap.local_costmap.obstacle_layer.enabled, local_costmap.local_costmap.obstacle_layer.scan.clearing, local_costmap.local_costmap.obstacle_layer.scan.marking, local_costmap.local_costmap.obstacle_layer.enabled, local_costmap.local_costmap.obstacle_layer.scan.clearing and local_costmap.local_costmap.obstacle_layer.scan.marking.
  • Removed 18 parameters: global_costmap.global_costmap.observation_sources, local_costmap.local_costmap.observation_sources, local_costmap.local_costmap.obstacle_layer.plugin, local_costmap.local_costmap.obstacle_layer.scan.max_obstacle_height, local_costmap.local_costmap.obstacle_layer.scan.obstacle_max_range, local_costmap.local_costmap.obstacle_layer.scan.obstacle_min_range, local_costmap.local_costmap.obstacle_layer.scan.raytrace_max_range, local_costmap.local_costmap.obstacle_layer.scan.raytrace_min_range and 10 more.
  • Most activity in nav2_bringup/ (+145/−102).

Full analysis → Summary: automatic analysis

Changed values

NameOldNewChangeFileExtractor
bt_navigator.plugin_lib_names[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node][nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]nav2_bringup/params/nav2_multirobot_params_1.yamlros2_yaml
local_costmap.local_costmap.plugins["obstacle_layer", "inflation_layer"]["voxel_layer", "inflation_layer"]nav2_bringup/params/nav2_multirobot_params_1.yamlros2_yaml
bt_navigator.plugin_lib_names[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node][nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_action_bt_node, nav2_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_action_bt_node, nav2_back_up_action_bt_node, nav2_drive_on_heading_bt_node, nav2_clear_costmap_service_bt_node, nav2_is_stuck_condition_bt_node, nav2_goal_reached_condition_bt_node, nav2_goal_updated_condition_bt_node, nav2_globally_updated_goal_condition_bt_node, nav2_is_path_valid_condition_bt_node, nav2_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_condition_bt_node, nav2_initial_pose_received_condition_bt_node, nav2_reinitialize_global_localization_service_bt_node, nav2_rate_controller_bt_node, nav2_distance_controller_bt_node, nav2_speed_controller_bt_node, nav2_truncate_path_action_bt_node, nav2_truncate_path_local_action_bt_node, nav2_goal_updater_node_bt_node, nav2_recovery_node_bt_node, nav2_pipeline_sequence_bt_node, nav2_round_robin_node_bt_node, nav2_transform_available_condition_bt_node, nav2_time_expired_condition_bt_node, nav2_path_expiring_timer_condition, nav2_distance_traveled_condition_bt_node, nav2_single_trigger_bt_node, nav2_goal_updated_controller_bt_node, nav2_is_battery_low_condition_bt_node, nav2_navigate_through_poses_action_bt_node, nav2_navigate_to_pose_action_bt_node, nav2_remove_passed_goals_action_bt_node, nav2_planner_selector_bt_node, nav2_controller_selector_bt_node, nav2_goal_checker_selector_bt_node, nav2_controller_cancel_bt_node, nav2_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]nav2_bringup/params/nav2_multirobot_params_2.yamlros2_yaml
local_costmap.local_costmap.plugins["obstacle_layer", "inflation_layer"]["voxel_layer", "inflation_layer"]nav2_bringup/params/nav2_multirobot_params_2.yamlros2_yaml

Added (53)

NameValueTypeFile
bt_navigator.error_code_names[compute_path_error_code, follow_path_error_code]listnav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.inflation_layer.cost_scaling_factor3.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.inflation_layer.inflation_radius0.55numbernav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.inflation_layer.plugin"nav2_costmap_2d::InflationLayer"stringnav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.obstacle_layer.observation_sourcesscanexprnav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.obstacle_layer.plugin"nav2_costmap_2d::ObstacleLayer"stringnav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.obstacle_layer.scan.data_type"LaserScan"stringnav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.plugins["static_layer", "obstacle_layer", "inflation_layer"]listnav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.static_layer.plugin"nav2_costmap_2d::StaticLayer"stringnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.enabledTrueboolnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.mark_threshold0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.max_obstacle_height2.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.observation_sourcesscanexprnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.origin_z0.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.plugin"nav2_costmap_2d::VoxelLayer"stringnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.publish_voxel_mapFalseboolnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.clearingTrueboolnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.data_type"LaserScan"stringnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.markingTrueboolnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.max_obstacle_height2.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.obstacle_max_range2.5numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.obstacle_min_range0.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.raytrace_max_range3.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.raytrace_min_range0.0numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.scan.topic/robot1/scanexprnav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.z_resolution0.05numbernav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.voxel_layer.z_voxels16numbernav2_bringup/params/nav2_multirobot_params_1.yaml
bt_navigator.error_code_names[compute_path_error_code, follow_path_error_code]listnav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.inflation_layer.cost_scaling_factor3.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.inflation_layer.inflation_radius0.55numbernav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.inflation_layer.plugin"nav2_costmap_2d::InflationLayer"stringnav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.obstacle_layer.observation_sourcesscanexprnav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.obstacle_layer.plugin"nav2_costmap_2d::ObstacleLayer"stringnav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.obstacle_layer.scan.data_type"LaserScan"stringnav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.plugins["static_layer", "obstacle_layer", "inflation_layer"]listnav2_bringup/params/nav2_multirobot_params_2.yaml
global_costmap.global_costmap.static_layer.plugin"nav2_costmap_2d::StaticLayer"stringnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.enabledTrueboolnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.mark_threshold0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.max_obstacle_height2.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.observation_sourcesscanexprnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.origin_z0.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.plugin"nav2_costmap_2d::VoxelLayer"stringnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.publish_voxel_mapFalseboolnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.clearingTrueboolnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.markingTrueboolnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.max_obstacle_height2.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.obstacle_max_range2.5numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.obstacle_min_range0.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.raytrace_max_range3.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.raytrace_min_range0.0numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.scan.topic/robot2/scanexprnav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.z_resolution0.05numbernav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.voxel_layer.z_voxels16numbernav2_bringup/params/nav2_multirobot_params_2.yaml

Removed (24)

NameLast valueNote
global_costmap.global_costmap.observation_sourcesscanremoved from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.observation_sourcesscanremoved from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.enabledTrueremoved from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.plugin"nav2_costmap_2d::ObstacleLayer"removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.clearingTrueremoved from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.markingTrueremoved from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.max_obstacle_height2.0removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.obstacle_max_range2.5removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.obstacle_min_range0.0removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.raytrace_max_range3.0removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.raytrace_min_range0.0removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
local_costmap.local_costmap.obstacle_layer.scan.topic/robot1/scanremoved from nav2_bringup/params/nav2_multirobot_params_1.yaml
global_costmap.global_costmap.observation_sourcesscanremoved from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.observation_sourcesscanremoved from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.enabledTrueremoved from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.plugin"nav2_costmap_2d::ObstacleLayer"removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.clearingTrueremoved from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.markingTrueremoved from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.max_obstacle_height2.0removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.obstacle_max_range2.5removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.obstacle_min_range0.0removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.raytrace_max_range3.0removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.raytrace_min_range0.0removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
local_costmap.local_costmap.obstacle_layer.scan.topic/robot2/scanremoved from nav2_bringup/params/nav2_multirobot_params_2.yaml

Post text

No post: ambiguous: bulk change (53 parameters added); needs a hand-written post.

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup020+145−102

Watched files (2)

Show file list
PathLinesNote
Mnav2_bringup/params/nav2_multirobot_params_1.yaml+73/−51
Mnav2_bringup/params/nav2_multirobot_params_2.yaml+72/−51

Commit message

Fix multi-robot launch issues (#3383)

* Fix multi-robot launch issues:
* Use full name of composable nodes container
* Correct and update BT plugins and error codes list
* Fix and update local and global costmap used plugins parameters

* Do not publish voxel map for multi-robot case