Jun 6, 2022: 6 new parameters in nav2_bringup/. · Nav2 default-parameter changelog (demo)

Jun 6, 2022 · f00d468 · 3 watched files, +15/−87

6 new parameters in nav2_bringup/.

params

Added 6 flags: bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time (default on), bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time (default on), bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time (default on), bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time (default on), bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time (default on) and bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time (default on).
Removed 27 flags: amcl_map_client.use_sim_time, amcl_rclcpp_node.use_sim_time, bt_navigator_rclcpp_node.use_sim_time, controller_server_rclcpp_node.use_sim_time, global_costmap.global_costmap_client.use_sim_time, global_costmap.global_costmap_rclcpp_node.use_sim_time, local_costmap.local_costmap_client.use_sim_time, local_costmap.local_costmap_rclcpp_node.use_sim_time and 19 more.
Most activity in nav2_bringup/ (+15/−87).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (6)

Name	Value	Type	File
`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator_navigate_through_poses_rclcpp_node.use_sim_time`	`True`	bool	nav2_bringup/params/nav2_params.yaml
`bt_navigator_navigate_to_pose_rclcpp_node.use_sim_time`	`True`	bool	nav2_bringup/params/nav2_params.yaml

Removed (27)

Name	Last value	Note
`amcl_map_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`planner_server_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl_map_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`controller_server_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`global_costmap.global_costmap_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`global_costmap.global_costmap_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`local_costmap.local_costmap_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`local_costmap.local_costmap_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`planner_server_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl_map_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`amcl_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`bt_navigator_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`controller_server_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`global_costmap.global_costmap_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`global_costmap.global_costmap_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`local_costmap.local_costmap_client.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`local_costmap.local_costmap_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml
`planner_server_rclcpp_node.use_sim_time`	`True`	removed from nav2_bringup/params/nav2_params.yaml

Post text (X-ready, not posted)

Nav2 update (Jun 6): new flag bt_navigator_navigate_through_poses_rclcpp_node/use_sim_time (ON by default) - new flag bt_navigator_navigate_to_pose_rclcpp_node/use_sim_time (ON by default)

188/280 weighted chars

Details: https://fitzyracing1.github.io/knoblog/demo/nav2/entries/f00d468.html Commit: https://github.com/ros-navigation/navigation2/commit/f00d468eb10952ada56f4d6e2ddd16815cc2a3ca 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	−87

Watched files (3)

Show file list

	Path	Lines
M	nav2_bringup/params/nav2_multirobot_params_1.yaml	+5/−29
M	nav2_bringup/params/nav2_multirobot_params_2.yaml	+5/−29
M	nav2_bringup/params/nav2_params.yaml	+5/−29

Commit message

clear up params file (#3004)

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>