Apr 4, 2022: 45 new parameters in nav2_bringup/. · Nav2 default-parameter changelog (demo)

Apr 4, 2022 · 4234a6e · 3 watched files, +15/−15

45 new parameters in nav2_bringup/.

params

Added 3 flags: behavior_server.use_sim_time (default on), behavior_server.use_sim_time (default on) and behavior_server.use_sim_time (default on).
Added 42 parameters: behavior_server.backup.plugin = "nav2_behaviors/BackUp", behavior_server.behavior_plugins = ["spin", "backup", "wait"], behavior_server.costmap_topic = local_costmap/costmap_raw, behavior_server.cycle_frequency = 10.0, behavior_server.footprint_topic = local_costmap/published_footprint, behavior_server.global_frame = odom, behavior_server.max_rotational_vel = 1.0, behavior_server.min_rotational_vel = 0.4 and 34 more.
Removed 3 flags: recoveries_server.use_sim_time, recoveries_server.use_sim_time and recoveries_server.use_sim_time.
Removed 42 parameters: recoveries_server.backup.plugin, recoveries_server.costmap_topic, recoveries_server.cycle_frequency, recoveries_server.footprint_topic, recoveries_server.global_frame, recoveries_server.max_rotational_vel, recoveries_server.min_rotational_vel, recoveries_server.recovery_plugins and 34 more.
Most activity in nav2_bringup/ (+15/−15).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (45)

Name	Value	Type	File
`behavior_server.backup.plugin`	`"nav2_behaviors/BackUp"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "wait"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.costmap_topic`	`local_costmap/costmap_raw`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.cycle_frequency`	`10.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.footprint_topic`	`local_costmap/published_footprint`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.global_frame`	`odom`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.max_rotational_vel`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.min_rotational_vel`	`0.4`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.rotational_acc_lim`	`3.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.simulate_ahead_time`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.spin.plugin`	`"nav2_behaviors/Spin"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.transform_tolerance`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.use_sim_time`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.wait.plugin`	`"nav2_behaviors/Wait"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.backup.plugin`	`"nav2_behaviors/BackUp"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "wait"]`	list	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.costmap_topic`	`local_costmap/costmap_raw`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.cycle_frequency`	`10.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.footprint_topic`	`local_costmap/published_footprint`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.global_frame`	`odom`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.max_rotational_vel`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.min_rotational_vel`	`0.4`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.rotational_acc_lim`	`3.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.simulate_ahead_time`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.spin.plugin`	`"nav2_behaviors/Spin"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.transform_tolerance`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.use_sim_time`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.wait.plugin`	`"nav2_behaviors/Wait"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.backup.plugin`	`"nav2_behaviors/BackUp"`	string	nav2_bringup/params/nav2_params.yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "wait"]`	list	nav2_bringup/params/nav2_params.yaml
`behavior_server.costmap_topic`	`local_costmap/costmap_raw`	expr	nav2_bringup/params/nav2_params.yaml
`behavior_server.cycle_frequency`	`10.0`	number	nav2_bringup/params/nav2_params.yaml
`behavior_server.footprint_topic`	`local_costmap/published_footprint`	expr	nav2_bringup/params/nav2_params.yaml
`behavior_server.global_frame`	`odom`	expr	nav2_bringup/params/nav2_params.yaml
`behavior_server.max_rotational_vel`	`1.0`	number	nav2_bringup/params/nav2_params.yaml
`behavior_server.min_rotational_vel`	`0.4`	number	nav2_bringup/params/nav2_params.yaml
`behavior_server.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_params.yaml
`behavior_server.rotational_acc_lim`	`3.2`	number	nav2_bringup/params/nav2_params.yaml
`behavior_server.simulate_ahead_time`	`2.0`	number	nav2_bringup/params/nav2_params.yaml
`behavior_server.spin.plugin`	`"nav2_behaviors/Spin"`	string	nav2_bringup/params/nav2_params.yaml
`behavior_server.transform_tolerance`	`0.1`	number	nav2_bringup/params/nav2_params.yaml
`behavior_server.use_sim_time`	`true`	bool	nav2_bringup/params/nav2_params.yaml
`behavior_server.wait.plugin`	`"nav2_behaviors/Wait"`	string	nav2_bringup/params/nav2_params.yaml

Removed (45)

Show removed values

Name	Last value	Note
`recoveries_server.backup.plugin`	`"nav2_recoveries/BackUp"`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.costmap_topic`	`local_costmap/costmap_raw`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.cycle_frequency`	`10.0`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.footprint_topic`	`local_costmap/published_footprint`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.global_frame`	`odom`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.max_rotational_vel`	`1.0`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.min_rotational_vel`	`0.4`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.recovery_plugins`	`["spin", "backup", "wait"]`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.robot_base_frame`	`base_link`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.rotational_acc_lim`	`3.2`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.simulate_ahead_time`	`2.0`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.spin.plugin`	`"nav2_recoveries/Spin"`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.transform_tolerance`	`0.1`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.use_sim_time`	`true`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.wait.plugin`	`"nav2_recoveries/Wait"`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`recoveries_server.backup.plugin`	`"nav2_recoveries/BackUp"`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.costmap_topic`	`local_costmap/costmap_raw`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.cycle_frequency`	`10.0`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.footprint_topic`	`local_costmap/published_footprint`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.global_frame`	`odom`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.max_rotational_vel`	`1.0`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.min_rotational_vel`	`0.4`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.recovery_plugins`	`["spin", "backup", "wait"]`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.robot_base_frame`	`base_link`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.rotational_acc_lim`	`3.2`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.simulate_ahead_time`	`2.0`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.spin.plugin`	`"nav2_recoveries/Spin"`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.transform_tolerance`	`0.1`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.use_sim_time`	`true`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.wait.plugin`	`"nav2_recoveries/Wait"`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`recoveries_server.backup.plugin`	`"nav2_recoveries/BackUp"`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.costmap_topic`	`local_costmap/costmap_raw`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.cycle_frequency`	`10.0`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.footprint_topic`	`local_costmap/published_footprint`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.global_frame`	`odom`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.max_rotational_vel`	`1.0`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.min_rotational_vel`	`0.4`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.recovery_plugins`	`["spin", "backup", "wait"]`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.robot_base_frame`	`base_link`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.rotational_acc_lim`	`3.2`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.simulate_ahead_time`	`2.0`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.spin.plugin`	`"nav2_recoveries/Spin"`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.transform_tolerance`	`0.1`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.use_sim_time`	`true`	removed from nav2_bringup/params/nav2_params.yaml
`recoveries_server.wait.plugin`	`"nav2_recoveries/Wait"`	removed from nav2_bringup/params/nav2_params.yaml

Post text (X-ready, not posted)

Nav2 update (Apr 4): new behavior_server/transform_tolerance = 0.1 - recoveries_server/transform_tolerance removed (was 0.1) - new flag behavior_server/use_sim_time (ON by default) - new behavior_server/cycle_frequency = 10.0

225/280 weighted chars

Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/4234a6e.html Commit: https://github.com/ros-navigation/navigation2/commit/4234a6ea27de2094dde98a5f928522d72b139227 Values are repo defaults from the params files.

112/280 weighted chars

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	0	3	0	+15	−15

Watched files (3)

Show file list

	Path	Lines
M	nav2_bringup/params/nav2_multirobot_params_1.yaml	+5/−5
M	nav2_bringup/params/nav2_multirobot_params_2.yaml	+5/−5
M	nav2_bringup/params/nav2_params.yaml	+5/−5

Commit message

Recovery to behavior (#2867)

* rename recovery_server to behavior_server

* renaming

* renamming

* renaming

* readme update

* renamming tests