Refactor the plugin names for planner_server to use double colons

ros-navigation · Mar 27, 2024 · 00913b3 · 00913b3
1 parent cd6fc03
commit 00913b3
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Showing 17 changed files with 61 additions and 61 deletions.
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -201,7 +201,7 @@ planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -200,7 +200,7 @@ planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true

diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -234,7 +234,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -231,7 +231,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true

diff --git a/nav2_navfn_planner/global_planner_plugin.xml b/nav2_navfn_planner/global_planner_plugin.xml
@@ -1,5 +1,5 @@
 <library path="nav2_navfn_planner">
-	<class name="nav2_navfn_planner/NavfnPlanner" type="nav2_navfn_planner::NavfnPlanner" base_class_type="nav2_core::GlobalPlanner">
+	<class name=type="nav2_navfn_planner::NavfnPlanner" base_class_type="nav2_core::GlobalPlanner">
 	  <description></description>
 	</class>
 </library>
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -44,7 +44,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
 : nav2_util::LifecycleNode("planner_server", "", options),
   gp_loader_("nav2_core", "nav2_core::GlobalPlanner"),
   default_ids_{"GridBased"},
-  default_types_{"nav2_navfn_planner/NavfnPlanner"},
+  default_types_{"nav2_navfn_planner::NavfnPlanner"},
   costmap_(nullptr)
 {
   RCLCPP_INFO(get_logger(), "Creating");

diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md
@@ -102,7 +102,7 @@ planner_server:
     planner_plugins: ["GridBased"]
 
     GridBased:
-      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      plugin: "nav2_smac_planner::SmacPlannerHybrid"
       tolerance: 0.5                      # tolerance for planning if unable to reach exact pose, in meters
       downsample_costmap: false           # whether or not to downsample the map
       downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)

diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -216,7 +216,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: False
       allow_unknown: True

diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
@@ -206,7 +206,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: False
       allow_unknown: True

diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
@@ -206,7 +206,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: False
       allow_unknown: True

diff --git a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml
@@ -195,7 +195,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true

diff --git a/nav2_system_tests/src/planning/test_planner_plugins.cpp b/nav2_system_tests/src/planning/test_planner_plugins.cpp
@@ -180,177 +180,177 @@ TEST(testPluginMap, Failures)
 
 TEST(testPluginMap, Smac2dEqualStartGoal)
 {
-  testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.0);
+  testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.0);
 }
 
 TEST(testPluginMap, Smac2dEqualStartGoalN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.0);
+  testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.0);
 }
 
 TEST(testPluginMap, Smac2dVerySmallPath)
 {
-  testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.00001);
+  testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.00001);
 }
 
 TEST(testPluginMap, Smac2dVerySmallPathN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.00001);
+  testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.00001);
 }
 
 TEST(testPluginMap, Smac2dBelowCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.09);
+  testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.09);
 }
 
 TEST(testPluginMap, Smac2dBelowCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.09);
+  testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.09);
 }
 
 TEST(testPluginMap, Smac2dJustAboveCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.102);
+  testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.102);
 }
 
 TEST(testPluginMap, Smac2dJustAboveCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.102);
+  testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.102);
 }
 
 TEST(testPluginMap, Smac2dAboveCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 1.5);
+  testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 1.5);
 }
 
 TEST(testPluginMap, Smac2dAboveCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 1.5);
+  testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 1.5);
 }
 
 TEST(testPluginMap, NavFnEqualStartGoal)
 {
-  testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.0);
+  testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.0);
 }
 
 TEST(testPluginMap, NavFnEqualStartGoalN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.0);
+  testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.0);
 }
 
 TEST(testPluginMap, NavFnVerySmallPath)
 {
-  testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.00001);
+  testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.00001);
 }
 
 TEST(testPluginMap, NavFnVerySmallPathN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.00001);
+  testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.00001);
 }
 
 TEST(testPluginMap, NavFnBelowCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.09);
+  testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.09);
 }
 
 TEST(testPluginMap, NavFnBelowCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.09);
+  testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.09);
 }
 
 TEST(testPluginMap, NavFnJustAboveCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.102);
+  testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.102);
 }
 
 TEST(testPluginMap, NavFnJustAboveCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.102);
+  testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.102);
 }
 
 TEST(testPluginMap, NavFnAboveCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 1.5);
+  testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 1.5);
 }
 
 TEST(testPluginMap, NavFnAboveCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 1.5);
+  testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 1.5);
 }
 
 TEST(testPluginMap, ThetaStarEqualStartGoal)
 {
-  testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.0);
+  testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.0);
 }
 
 TEST(testPluginMap, ThetaStarEqualStartGoalN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.0);
+  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.0);
 }
 
 TEST(testPluginMap, ThetaStarVerySmallPath)
 {
-  testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.00001);
+  testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.00001);
 }
 
 TEST(testPluginMap, ThetaStarVerySmallPathN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.00001);
+  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.00001);
 }
 
 TEST(testPluginMap, ThetaStarBelowCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.09);
+  testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.09);
 }
 
 TEST(testPluginMap, ThetaStarBelowCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.09);
+  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.09);
 }
 
 TEST(testPluginMap, ThetaStarJustAboveCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.102);
+  testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.102);
 }
 
 TEST(testPluginMap, ThetaStarJustAboveCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.102);
+  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.102);
 }
 
 TEST(testPluginMap, ThetaStarAboveCostmapResolution)
 {
-  testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 1.5);
+  testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 1.5);
 }
 
 TEST(testPluginMap, ThetaStarAboveCostmapResolutionN)
 {
-  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 1.5);
+  testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 1.5);
 }
 
 TEST(testPluginMap, NavFnCancel)
 {
-  testCancel("nav2_navfn_planner/NavfnPlanner");
+  testCancel("nav2_navfn_planner::NavfnPlanner");
 }
 
 TEST(testPluginMap, ThetaStarCancel)
 {
-  testCancel("nav2_theta_star_planner/ThetaStarPlanner");
+  testCancel("nav2_theta_star_planner::ThetaStarPlanner");
 }
 
 TEST(testPluginMap, Smac2dCancel)
 {
-  testCancel("nav2_smac_planner/SmacPlanner2D");
+  testCancel("nav2_smac_planner::SmacPlanner2D");
 }
 
 TEST(testPluginMap, SmacLatticeCancel)
 {
-  testCancel("nav2_smac_planner/SmacPlannerLattice");
+  testCancel("nav2_smac_planner::SmacPlannerLattice");
 }
 
 TEST(testPluginMap, SmacHybridAStarCancel)
 {
-  testCancel("nav2_smac_planner/SmacPlannerHybrid");
+  testCancel("nav2_smac_planner::SmacPlannerHybrid");
 }
 
 

diff --git a/nav2_system_tests/src/system/CMakeLists.txt b/nav2_system_tests/src/system/CMakeLists.txt
@@ -12,7 +12,7 @@ ament_add_test(test_bt_navigator
     TESTER=nav_to_pose_tester_node.py
     ASTAR=True
     CONTROLLER=nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
-    PLANNER=nav2_navfn_planner/NavfnPlanner
+    PLANNER=nav2_navfn_planner::NavfnPlanner
 )
 
 ament_add_test(test_bt_navigator_with_wrong_init_pose
@@ -29,7 +29,7 @@ ament_add_test(test_bt_navigator_with_wrong_init_pose
     TESTER=nav_to_pose_tester_node.py
     ASTAR=True
     CONTROLLER=nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
-    PLANNER=nav2_navfn_planner/NavfnPlanner
+    PLANNER=nav2_navfn_planner::NavfnPlanner
 )
 
 ament_add_test(test_bt_navigator_with_dijkstra
@@ -46,7 +46,7 @@ ament_add_test(test_bt_navigator_with_dijkstra
     TESTER=nav_to_pose_tester_node.py
     ASTAR=False
     CONTROLLER=dwb_core::DWBLocalPlanner
-    PLANNER=nav2_navfn_planner/NavfnPlanner
+    PLANNER=nav2_navfn_planner::NavfnPlanner
 )
 
 ament_add_test(test_bt_navigator_2
@@ -63,7 +63,7 @@ ament_add_test(test_bt_navigator_2
     TESTER=nav_to_pose_tester_node.py
     ASTAR=False
     CONTROLLER=dwb_core::DWBLocalPlanner
-    PLANNER=nav2_navfn_planner/NavfnPlanner
+    PLANNER=nav2_navfn_planner::NavfnPlanner
 )
 
 ament_add_test(test_dynamic_obstacle
@@ -80,7 +80,7 @@ ament_add_test(test_dynamic_obstacle
     TESTER=nav_to_pose_tester_node.py
     ASTAR=False
     CONTROLLER=dwb_core::DWBLocalPlanner
-    PLANNER=nav2_navfn_planner/NavfnPlanner
+    PLANNER=nav2_navfn_planner::NavfnPlanner
 )
 
 ament_add_test(test_nav_through_poses
@@ -97,7 +97,7 @@ ament_add_test(test_nav_through_poses
     TESTER=nav_through_poses_tester_node.py
     ASTAR=False
     CONTROLLER=dwb_core::DWBLocalPlanner
-    PLANNER=nav2_navfn_planner/NavfnPlanner
+    PLANNER=nav2_navfn_planner::NavfnPlanner
 )
 
 # ament_add_test(test_multi_robot
@@ -113,6 +113,6 @@ ament_add_test(test_nav_through_poses
 #     TEST_SDF=${PROJECT_SOURCE_DIR}/models/turtlebot3_waffle/model.sdf
 #     BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
 #     CONTROLLER=dwb_core::DWBLocalPlanner
-#     PLANNER=nav2_navfn_planner/NavfnPlanner
+#     PLANNER=nav2_navfn_planner::NavfnPlanner
 #     TESTER=nav_to_pose_tester_node.py
 # )
diff --git a/nav2_theta_star_planner/README.md b/nav2_theta_star_planner/README.md
@@ -57,7 +57,7 @@ Below are the default values of the parameters :
 ```
 planner_server:
   ros__parameters:
-    planner_plugin_types: ["nav2_theta_star_planner/ThetaStarPlanner"]
+    planner_plugin_types: ["nav2_theta_star_planner::ThetaStarPlanner"]
     planner_plugin_ids: ["GridBased"]
     GridBased:
       how_many_corners: 8

diff --git a/nav2_theta_star_planner/theta_star_planner.xml b/nav2_theta_star_planner/theta_star_planner.xml
@@ -1,5 +1,5 @@
 <library path="nav2_theta_star_planner">
-    <class name="nav2_theta_star_planner/ThetaStarPlanner" type="nav2_theta_star_planner::ThetaStarPlanner" base_class_type="nav2_core::GlobalPlanner">
+    <class type="nav2_theta_star_planner::ThetaStarPlanner" base_class_type="nav2_core::GlobalPlanner">
         <description>An implementation of the Theta* Algorithm</description>
     </class>
 </library>