Mar 29, 2022: Parameter changes: bt_navigator.plugin_lib_names [nav2_compute_path_to_pose_action_bt_no…→[nav2_compute_path_to_pose_action_bt_no….

Mar 29, 2022 · 2000ef9 · 3 watched files, +7/−4

Parameter changes: bt_navigator.plugin_lib_names [nav2_compute_path_to_pose_action_bt_no…→[nav2_compute_path_to_pose_action_bt_no….

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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_distance_traveled_condition_bt_node, nav2_single_trigger_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node] (in nav2_bringup/params/nav2_multirobot_params_1.yaml and nav2_bringup/params/nav2_multirobot_params_2.yaml and nav2_bringup/params/nav2_params.yaml).
Most activity in nav2_bringup/ (+7/−4).

Full analysis → Summary: automatic analysis

Changed values

Name	Old	New	File	Extractor
`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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_distance_traveled_condition_bt_node, nav2_single_trigger_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	nav2_bringup/params/nav2_multirobot_params_1.yaml	ros2_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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_distance_traveled_condition_bt_node, nav2_single_trigger_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	nav2_bringup/params/nav2_multirobot_params_2.yaml	ros2_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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_distance_traveled_condition_bt_node, nav2_single_trigger_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_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_back_up_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_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_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_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_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node]	nav2_bringup/params/nav2_params.yaml	ros2_yaml

Post text

No post: no meaningful change.

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	0	3	0	+7	−4

Watched files (3)

Show file list

	Path	Lines
M	nav2_bringup/params/nav2_multirobot_params_1.yaml	+2/−1
M	nav2_bringup/params/nav2_multirobot_params_2.yaml	+2/−1
M	nav2_bringup/params/nav2_params.yaml	+3/−2

Commit message

Mixed replan (#2841)

* working global time expired node

* test for global_time_expired_condition

* revert navigate to pose

* added '

* added space

* fix

* code review

* added 15 sec replanning time

* new bt

* revert bt

* fix

* reset timer when path is updated

* name change and fixes, it works!

* completed tests

* revert

* code review

* code review

* replanning time adjustment, rename

* removed commented code

* test fix

* remove comment