Jan 10, 2023: Parameter changes: bt_navigator.plugin_lib_names [nav2_compute_path_to_pose_action_bt_no…→[nav2_compute_path_to_pose_action_bt_no….

Jan 10, 2023 · 8e187d6 · 1 watched files, +4/−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_smooth_path_action_bt_node, nav2_follow_path_action_bt_node, nav2_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_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_truncate_path_local_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_goal_updated_controller_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_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_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_assisted_teleop_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_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_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_truncate_path_local_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_goal_updated_controller_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_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_cancel_bt_node] (in nav2_bringup/params/nav2_params.yaml).
Most activity in nav2_bringup/ (+4/−0).

Full analysis → Summary: automatic analysis

Changed values

Name	Old	New	Change	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_spin_action_bt_node, nav2_wait_action_bt_node, nav2_assisted_teleop_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_truncate_path_local_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_goal_updated_controller_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_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_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_assisted_teleop_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_are_error_codes_active_condition_bt_node, nav2_would_a_controller_recovery_help_condition_bt_node, nav2_would_a_planner_recovery_help_condition_bt_node, nav2_would_a_smoother_recovery_help_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_truncate_path_local_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_goal_updated_controller_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_assisted_teleop_cancel_bt_node, nav2_drive_on_heading_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	1	0	+4	−0

Watched files (1)

Show file list

	Path	Lines	Note
M	nav2_bringup/params/nav2_params.yaml	+4/−0

Commit message

Behavior Tree uses Error Codes (#3324)

* rough outline for condition node

* completed error code condition

* behavior tree with error codes

* created generic code ex

* test for error_code_condition

* generic error code bt node

* remove error code condition

* updates

* updated error code condition

* would a controller recovery help

* rename

* added planner recovery condition

* initial draft

* complete with one error code as input

* revert cmake

* bt conversion test

* code review

* code review

* code review

* refactor behavior tree tests

* cleanup

* final cleanup

* uncomment

* removed logger

* function header update

* update bt to include would a planner recovery help

* copyright cleanup

* added bt node for smoother recovery

* smoother test

* costmap filter test fix

* remove include

* test if commit counted

* update copyright

* code review

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