May 4, 2022: Parameter changes: behavior_server.behavior_plugins ["spin", "backup", "wait"]→["spin", "backup", "drive_on_heading", … and bt_navigator.plugin_lib_names [nav2_compute_path_to_pose_action_bt_no…→[nav2_compute_path_to_pose_action_bt_no….

May 4, 2022 · 54323dc · 3 watched files, +18/−6

Parameter changes: behavior_server.behavior_plugins ["spin", "backup", "wait"]→["spin", "backup", "drive_on_heading", … and 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: behavior_server.behavior_plugins: ["spin", "backup", "wait"] → ["spin", "backup", "drive_on_heading", "wait"] (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) and 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_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_path_longer_on_approach_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_spin_action_bt_node, nav2_wait_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_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_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_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 nav2_bringup/params/nav2_params.yaml).
Added 3 parameters: behavior_server.drive_on_heading.plugin = "nav2_behaviors/DriveOnHeading", behavior_server.drive_on_heading.plugin = "nav2_behaviors/DriveOnHeading" and behavior_server.drive_on_heading.plugin = "nav2_behaviors/DriveOnHeading".
Most activity in nav2_bringup/ (+18/−6).

Full analysis → Summary: automatic analysis

Changed values

Name	Old	New	File	Extractor
`behavior_server.behavior_plugins`	`["spin", "backup", "wait"]`	`["spin", "backup", "drive_on_heading", "wait"]`	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_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_path_longer_on_approach_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_spin_action_bt_node, nav2_wait_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_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_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	nav2_bringup/params/nav2_multirobot_params_1.yaml	ros2_yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "wait"]`	`["spin", "backup", "drive_on_heading", "wait"]`	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_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_path_longer_on_approach_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_spin_action_bt_node, nav2_wait_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_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_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	nav2_bringup/params/nav2_multirobot_params_2.yaml	ros2_yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "wait"]`	`["spin", "backup", "drive_on_heading", "wait"]`	nav2_bringup/params/nav2_params.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_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_path_longer_on_approach_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_spin_action_bt_node, nav2_wait_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_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_path_longer_on_approach_bt_node, nav2_wait_cancel_bt_node, nav2_spin_cancel_bt_node, nav2_back_up_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node]	nav2_bringup/params/nav2_params.yaml	ros2_yaml

Added (3)

Name	Value	Type	File
`behavior_server.drive_on_heading.plugin`	`"nav2_behaviors/DriveOnHeading"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.drive_on_heading.plugin`	`"nav2_behaviors/DriveOnHeading"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.drive_on_heading.plugin`	`"nav2_behaviors/DriveOnHeading"`	string	nav2_bringup/params/nav2_params.yaml

Post text

No post: no meaningful change.

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	0	3	0	+18	−6

Watched files (3)

Show file list

	Path	Lines
M	nav2_bringup/params/nav2_multirobot_params_1.yaml	+6/−2
M	nav2_bringup/params/nav2_multirobot_params_2.yaml	+6/−2
M	nav2_bringup/params/nav2_params.yaml	+6/−2

Commit message

Drive on heading (#2898)

* renamed class

* rename backup to drive_on_heading

* test file rename

* renamed backup bt node

* renamed ports

* renamed binaries

* named backup cancel

* renamed backup action

* rename yaml

* fixing tests

* undid cmake

* add backup back in for old users

* added back_up back in

* remove commented tests

* rename server

* code review

* code review fixes

* code review

* templated the drive on heading

* fully templated drive on heading

* template fixes for drive on heading

* template working

* linting and boolean fix

* fixed tests

* added multiple files for recoveries

* xml fix

* fixed copyright

* revert

* Update nav2_behaviors/plugins/drive_on_heading.hpp

* Update nav2_behaviors/plugins/drive_on_heading.hpp

* update circleci config

* fixed back_up test

* fixed drive on heading test

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>