Nov 28, 2023: 96 new parameters in nav2_bringup/. · Nav2 default-parameter changelog (demo)

Nov 28, 2023 · c1e4a42 · 4 watched files, +124/−0

96 new parameters in nav2_bringup/.

params

Added 16 flags: collision_monitor.FootprintApproach.enabled (default on), collision_monitor.FootprintApproach.visualize (default off), collision_monitor.base_shift_correction (default on), collision_monitor.scan.enabled (default on), collision_monitor.FootprintApproach.enabled (default on), collision_monitor.FootprintApproach.visualize (default off), collision_monitor.base_shift_correction (default on), collision_monitor.scan.enabled (default on) and 8 more.
Added 80 parameters: collision_monitor.FootprintApproach.action_type = "approach", collision_monitor.FootprintApproach.footprint_topic = "local_costmap/published_footprint", collision_monitor.FootprintApproach.min_points = 6, collision_monitor.FootprintApproach.simulation_time_step = 0.1, collision_monitor.FootprintApproach.time_before_collision = 2.0, collision_monitor.FootprintApproach.type = "polygon", collision_monitor.base_frame_id = "base_footprint", collision_monitor.cmd_vel_in_topic = "cmd_vel_smoothed" and 72 more.
Most activity in nav2_bringup/ (+124/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (96)

Name	Value	Type	File
`collision_monitor.FootprintApproach.action_type`	`"approach"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.footprint_topic`	`"local_costmap/published_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.min_points`	`6`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.simulation_time_step`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.time_before_collision`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.type`	`"polygon"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.visualize`	`False`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.base_shift_correction`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.cmd_vel_in_topic`	`"cmd_vel_smoothed"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.cmd_vel_out_topic`	`"cmd_vel"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.observation_sources`	`["scan"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.polygons`	`["FootprintApproach"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.max_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.min_height`	`0.15`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.topic`	`"/robot1/scan"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.type`	`"scan"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.source_timeout`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.state_topic`	`"collision_monitor_state"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.stop_pub_timeout`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.transform_tolerance`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.action_type`	`"approach"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.footprint_topic`	`"local_costmap/published_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.min_points`	`6`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.simulation_time_step`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.time_before_collision`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.type`	`"polygon"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.visualize`	`False`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.base_shift_correction`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.cmd_vel_in_topic`	`"cmd_vel_smoothed"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.cmd_vel_out_topic`	`"cmd_vel"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.observation_sources`	`["scan"]`	list	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.polygons`	`["FootprintApproach"]`	list	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.scan.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.scan.max_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.scan.min_height`	`0.15`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.scan.topic`	`"/robot2/scan"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.scan.type`	`"scan"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.source_timeout`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.state_topic`	`"collision_monitor_state"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.stop_pub_timeout`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.transform_tolerance`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.action_type`	`"approach"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.footprint_topic`	`"/local_costmap/published_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.min_points`	`6`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.simulation_time_step`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.time_before_collision`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.type`	`"polygon"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.visualize`	`False`	bool	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.base_shift_correction`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.cmd_vel_in_topic`	`"cmd_vel_smoothed"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.cmd_vel_out_topic`	`"cmd_vel"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.observation_sources`	`["scan"]`	list	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.polygons`	`["FootprintApproach"]`	list	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.scan.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.scan.max_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.scan.min_height`	`0.15`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.scan.topic`	`"<robot_namespace>/scan"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.scan.type`	`"scan"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.source_timeout`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.state_topic`	`"collision_monitor_state"`	string	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.stop_pub_timeout`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.transform_tolerance`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_all.yaml
`collision_monitor.FootprintApproach.action_type`	`"approach"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.enabled`	`True`	bool	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.footprint_topic`	`"/local_costmap/published_footprint"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.min_points`	`6`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.simulation_time_step`	`0.1`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.time_before_collision`	`2.0`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.type`	`"polygon"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.FootprintApproach.visualize`	`False`	bool	nav2_bringup/params/nav2_params.yaml
`collision_monitor.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.base_shift_correction`	`True`	bool	nav2_bringup/params/nav2_params.yaml
`collision_monitor.cmd_vel_in_topic`	`"cmd_vel_smoothed"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.cmd_vel_out_topic`	`"cmd_vel"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.observation_sources`	`["scan"]`	list	nav2_bringup/params/nav2_params.yaml
`collision_monitor.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.polygons`	`["FootprintApproach"]`	list	nav2_bringup/params/nav2_params.yaml
`collision_monitor.scan.enabled`	`True`	bool	nav2_bringup/params/nav2_params.yaml
`collision_monitor.scan.max_height`	`2.0`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.scan.min_height`	`0.15`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.scan.topic`	`"scan"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.scan.type`	`"scan"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.source_timeout`	`1.0`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.state_topic`	`"collision_monitor_state"`	string	nav2_bringup/params/nav2_params.yaml
`collision_monitor.stop_pub_timeout`	`2.0`	number	nav2_bringup/params/nav2_params.yaml
`collision_monitor.transform_tolerance`	`0.2`	number	nav2_bringup/params/nav2_params.yaml

Post text

No post: ambiguous: bulk change (96 parameters added); needs a hand-written post.

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	0	4	0	+124	−0

Watched files (4)

Show file list

	Path	Lines
M	nav2_bringup/params/nav2_multirobot_params_1.yaml	+31/−0
M	nav2_bringup/params/nav2_multirobot_params_2.yaml	+31/−0
M	nav2_bringup/params/nav2_multirobot_params_all.yaml	+31/−0
M	nav2_bringup/params/nav2_params.yaml	+31/−0

Commit message

adding default collision monitor to bringup (#3989)

* adding default collision monitor to bringup

* Update nav2_multirobot_params_1.yaml

* adding to system test files

* adjust  for test