Nav2 default-parameter changelog (demo)
· 7befc49 · 3 watched files, +15/−0

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_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_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_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_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] (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 flags: smoother_server.use_sim_time (default on), smoother_server.use_sim_time (default on) and smoother_server.use_sim_time (default on).
  • Most activity in nav2_bringup/ (+15/−0).

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_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_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_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_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_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_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_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_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_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_bringup/params/nav2_multirobot_params_2.yamlros2_yaml
bt_navigator.plugin_lib_names[nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_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_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_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_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_bringup/params/nav2_params.yamlros2_yaml

Added (3)

NameValueTypeFile
smoother_server.use_sim_timeTrueboolnav2_bringup/params/nav2_multirobot_params_1.yaml
smoother_server.use_sim_timeTrueboolnav2_bringup/params/nav2_multirobot_params_2.yaml
smoother_server.use_sim_timeTrueboolnav2_bringup/params/nav2_params.yaml

Post text (X-ready, not posted)

Nav2 update (Nov 18): new flag smoother_server/use_sim_time (ON by default) Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/7befc49.html Commit: https://github.com/ros-navigation/navigation2/commit/7befc4975d3df4e252677a7a2b7c1d6c783fbd20 Values are repo defaults from the params files.

189/280 weighted chars

Modules touched

ModuleAddedModifiedRemovedLines +Lines −
nav2_bringup030+15−0

Watched files (3)

Show file list
PathLinesNote
Mnav2_bringup/params/nav2_multirobot_params_1.yaml+5/−0
Mnav2_bringup/params/nav2_multirobot_params_2.yaml+5/−0
Mnav2_bringup/params/nav2_params.yaml+5/−0

Commit message

Smoother server (#2569)

* old version of smoother server with path truncation and without collision checker and footprint subscriber

* Removed path truncation from smoother server, added footprint subscriber
and path collision checking

* smoother code styling fixes

* Update nav2_tree_nodes.xml

* WIP: PR #2569 fixes

* smoother server changes as requested in PR #2569, tests added

* cpplint fixes

* added nav2_smoother to composed bringup

* smoother server: improved test coverage, details fixed

* removed smoother from composed bringup lifecycle nodes as it fails on
non-existing plugins

* removed smoother server default plugin since it's not merged yet, readded into bringup

* nav2_smoother tests: added mocked class loader to improve
nav2_smoother.cpp test coverage

* nav2_smoother 100% test coverage

* test_smoother_server cpplint fix

* test_smoother_server added cleanup transition

* nav2_smoother added default plugin type autoconfig test

* Update nav2_smoother/README.md

* removed smoother_server_rclcpp_node from nav2_params.yaml, added
smoother_server to other config YAML files

Co-authored-by: afrixs <matej.vargovcik@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com>