Nav2 default-parameter changelog (demo)
· 2e652ab · 1 watched files, +6/−4

6 new parameters in nav2_bringup/.

params
  • 3 parameters no longer defined in the changed file(s) but still defined in nav2_bringup/params/nav2_multirobot_params_1.yaml (moved, not deleted): behavior_server.costmap_topic, behavior_server.footprint_topic and behavior_server.global_frame.
  • Added 6 parameters: behavior_server.global_costmap_topic = global_costmap/costmap_raw, behavior_server.global_flame = map, behavior_server.global_footprint_topic = global_costmap/published_footprint, behavior_server.local_costmap_topic = local_costmap/costmap_raw, behavior_server.local_footprint_topic = local_costmap/published_footprint and behavior_server.local_frame = odom.
  • Most activity in nav2_bringup/ (+6/−4).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (6)

NameValueTypeFile
behavior_server.global_costmap_topicglobal_costmap/costmap_rawexprnav2_bringup/params/nav2_params.yaml
behavior_server.global_flamemapexprnav2_bringup/params/nav2_params.yaml
behavior_server.global_footprint_topicglobal_costmap/published_footprintexprnav2_bringup/params/nav2_params.yaml
behavior_server.local_costmap_topiclocal_costmap/costmap_rawexprnav2_bringup/params/nav2_params.yaml
behavior_server.local_footprint_topiclocal_costmap/published_footprintexprnav2_bringup/params/nav2_params.yaml
behavior_server.local_frameodomexprnav2_bringup/params/nav2_params.yaml

Removed (3)

NameLast valueNote
behavior_server.costmap_topiclocal_costmap/costmap_rawstill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
behavior_server.footprint_topiclocal_costmap/published_footprintstill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml
behavior_server.global_frameodomstill defined in nav2_bringup/params/nav2_multirobot_params_1.yaml

Post text

No post: no meaningful change.

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup010+6−4

Watched files (1)

Show file list
PathLinesNote
Mnav2_bringup/params/nav2_params.yaml+6/−4

Commit message

Give behavior server access to both costmaps (#3255)

* building

* update name

* lint

* lint round 2 :)

* revert

* fix test

* fixed test

* code review trigger build farm

* added odom and map frame for behaviors

* lint

* add parameters

* lint error

* rename frame param

* only use resources required by plugins

* code review

* lint

* lint

* code review

Co-authored-by: Joshua Wallace <josho.wallace.com>