rename param

Signed-off-by: David Brown <[email protected]>

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp

@@ -80,7 +80,7 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
         BT::InputPort<double>("backup_dist", 0.15, "Distance to backup"),
         BT::InputPort<double>("backup_speed", 0.025, "Speed at which to backup"),
         BT::InputPort<double>("time_allowance", 10.0, "Allowed time for reversing"),
-        BT::InputPort<bool>("no_collision_checks", false, "Disable collision checking"),
+        BT::InputPort<bool>("disable_collision_checks", false, "Disable collision checking"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The back up behavior server error code")
       });

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp

@@ -59,7 +59,7 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
         BT::InputPort<double>("dist_to_travel", 0.15, "Distance to travel"),
         BT::InputPort<double>("speed", 0.025, "Speed at which to travel"),
         BT::InputPort<double>("time_allowance", 10.0, "Allowed time for driving on heading"),
-        BT::InputPort<bool>("no_collision_checks", false, "Disable collision checking"),
+        BT::InputPort<bool>("disable_collision_checks", false, "Disable collision checking"),
         BT::OutputPort<Action::Result::_error_code_type>(
           "error_code_id", "The drive on heading behavior server error code")
       });

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -13,7 +13,7 @@
       <input_port name="time_allowance">Allowed time for reversing</input_port>
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
-      <input_port name="no_collision_checks">Disable collision checking</input_port>
+      <input_port name="disable_collision_checks">Disable collision checking</input_port>
       <output_port name="error_code_id">"Back up error code"</output_port>
     </Action>
 
@@ -23,7 +23,7 @@
       <input_port name="time_allowance">Allowed time for reversing</input_port>
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
-      <input_port name="no_collision_checks">Disable collision checking</input_port>
+      <input_port name="disable_collision_checks">Disable collision checking</input_port>
       <output_port name="error_code_id">"Drive on heading error code"</output_port>
     </Action>
 

nav2_behavior_tree/plugins/action/back_up_action.cpp

@@ -36,16 +36,16 @@ void nav2_behavior_tree::BackUpAction::initialize()
   getInput("backup_speed", speed);
   double time_allowance;
   getInput("time_allowance", time_allowance);
-  double no_collision_checks;
-  getInput("no_collision_checks", no_collision_checks);
+  double disable_collision_checks;
+  getInput("disable_collision_checks", disable_collision_checks);
 
   // Populate the input message
   goal_.target.x = dist;
   goal_.target.y = 0.0;
   goal_.target.z = 0.0;
   goal_.speed = speed;
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
-  goal_.no_collision_checks = no_collision_checks;
+  goal_.disable_collision_checks = disable_collision_checks;
 }
 
 void BackUpAction::on_tick()

nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp

@@ -37,16 +37,16 @@ void DriveOnHeadingAction::initialize()
   getInput("speed", speed);
   double time_allowance;
   getInput("time_allowance", time_allowance);
-  double no_collision_checks;
-  getInput("no_collision_checks", no_collision_checks);
+  double disable_collision_checks;
+  getInput("disable_collision_checks", disable_collision_checks);
 
   // Populate the input message
   goal_.target.x = dist;
   goal_.target.y = 0.0;
   goal_.target.z = 0.0;
   goal_.speed = speed;
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
-  goal_.no_collision_checks = no_collision_checks;
+  goal_.disable_collision_checks = disable_collision_checks;
   initalized_ = true;
 }
 

nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp

@@ -131,20 +131,20 @@ TEST_F(BackUpActionTestFixture, test_ports)
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   EXPECT_EQ(tree_->rootNode()->getInput<double>("backup_dist"), 0.15);
   EXPECT_EQ(tree_->rootNode()->getInput<double>("backup_speed"), 0.025);
-  EXPECT_EQ(tree_->rootNode()->getInput<bool>("no_collision_checks"), false);
+  EXPECT_EQ(tree_->rootNode()->getInput<bool>("disable_collision_checks"), false);
 
   xml_txt =
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <BackUp backup_dist="2" backup_speed="0.26" no_collision_checks="true" />
+            <BackUp backup_dist="2" backup_speed="0.26" disable_collision_checks="true" />
         </BehaviorTree>
       </root>)";
 
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   EXPECT_EQ(tree_->rootNode()->getInput<double>("backup_dist"), 2.0);
   EXPECT_EQ(tree_->rootNode()->getInput<double>("backup_speed"), 0.26);
-  EXPECT_EQ(tree_->rootNode()->getInput<bool>("no_collision_checks"), true);
+  EXPECT_EQ(tree_->rootNode()->getInput<bool>("disable_collision_checks"), true);
 }
 
 TEST_F(BackUpActionTestFixture, test_tick)

nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp

@@ -128,20 +128,20 @@ TEST_F(DriveOnHeadingActionTestFixture, test_ports)
   EXPECT_EQ(tree_->rootNode()->getInput<double>("dist_to_travel"), 0.15);
   EXPECT_EQ(tree_->rootNode()->getInput<double>("speed"), 0.025);
   EXPECT_EQ(tree_->rootNode()->getInput<double>("time_allowance"), 10.0);
-  EXPECT_EQ(tree_->rootNode()->getInput<bool>("no_collision_checks"), false);
+  EXPECT_EQ(tree_->rootNode()->getInput<bool>("disable_collision_checks"), false);
 
   xml_txt =
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <DriveOnHeading dist_to_travel="2" speed="0.26" no_collision_checks="true" />
+            <DriveOnHeading dist_to_travel="2" speed="0.26" disable_collision_checks="true" />
         </BehaviorTree>
       </root>)";
 
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   EXPECT_EQ(tree_->rootNode()->getInput<double>("dist_to_travel"), 2.0);
   EXPECT_EQ(tree_->rootNode()->getInput<double>("speed"), 0.26);
-  EXPECT_EQ(tree_->rootNode()->getInput<bool>("no_collision_checks"), true);
+  EXPECT_EQ(tree_->rootNode()->getInput<bool>("disable_collision_checks"), true);
 }
 
 TEST_F(DriveOnHeadingActionTestFixture, test_tick)

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

@@ -47,7 +47,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     feedback_(std::make_shared<typename ActionT::Feedback>()),
     command_x_(0.0),
     command_speed_(0.0),
-    command_no_collision_checks_(false),
+    command_disable_collision_checks_(false),
     simulate_ahead_time_(0.0)
   {
   }
@@ -169,7 +169,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     const geometry_msgs::msg::Twist & cmd_vel,
     geometry_msgs::msg::Pose2D & pose2d)
   {
-    if (command_no_collision_checks_) {
+    if (command_disable_collision_checks_) {
       return true;
     }
 
@@ -220,7 +220,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
   geometry_msgs::msg::PoseStamped initial_pose_;
   double command_x_;
   double command_speed_;
-  bool command_no_collision_checks_;
+  bool command_disable_collision_checks_;
   rclcpp::Duration command_time_allowance_{0, 0};
   rclcpp::Time end_time_;
   double simulate_ahead_time_;

nav2_msgs/action/BackUp.action

@@ -3,7 +3,7 @@
 geometry_msgs/Point target
 float32 speed
 builtin_interfaces/Duration time_allowance
-bool no_collision_checks
+bool disable_collision_checks
 ---
 #result definition
 

nav2_msgs/action/DriveOnHeading.action

@@ -3,7 +3,7 @@
 geometry_msgs/Point target
 float32 speed
 builtin_interfaces/Duration time_allowance
-bool no_collision_checks
+bool disable_collision_checks
 ---
 #result definition
 

nav2_simple_commander/README.md

@@ -24,7 +24,7 @@ New as of September 2023: the simple navigator constructor will accept a `namesp
 | followWaypoints(poses)            | Requests the robot to follow a set of waypoints (list of `PoseStamped`). This will execute the specific `TaskExecutor` at each pose.   |
 | followPath(path, controller_id='', goal_checker_id='') | Requests the robot to follow a path from a starting to a goal `PoseStamped`, `nav_msgs/Path`.     |
 | spin(spin_dist=1.57, time_allowance=10)   | Requests the robot to performs an in-place rotation by a given angle.      |
-| backup(backup_dist=0.15, backup_speed=0.025, time_allowance=10, no_collision_checks=False) | Requests the robot to back up by a given distance.         |
+| backup(backup_dist=0.15, backup_speed=0.025, time_allowance=10, disable_collision_checks=False) | Requests the robot to back up by a given distance.         |
 | cancelTask()                       | Cancel an ongoing task request.|
 | isTaskComplete()                   | Checks if task is complete yet, times out at `100ms`.  Returns `True` if completed and `False` if still going.                  |
 | getFeedback()                     | Gets feedback from task, returns action server feedback object. |

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -279,15 +279,15 @@ def spin(self, spin_dist=1.57, time_allowance=10):
         return True
 
     def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10,
-               no_collision_checks=False):
+               disable_collision_checks=False):
         self.debug("Waiting for 'Backup' action server")
         while not self.backup_client.wait_for_server(timeout_sec=1.0):
             self.info("'Backup' action server not available, waiting...")
         goal_msg = BackUp.Goal()
         goal_msg.target = Point(x=float(backup_dist))
         goal_msg.speed = backup_speed
         goal_msg.time_allowance = Duration(sec=time_allowance)
-        goal_msg.no_collision_checks = no_collision_checks
+        goal_msg.disable_collision_checks = disable_collision_checks
 
         self.info(f'Backing up {goal_msg.target.x} m at {goal_msg.speed} m/s....')
         send_goal_future = self.backup_client.send_goal_async(
@@ -304,15 +304,15 @@ def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10,
         return True
 
     def driveOnHeading(self, dist=0.15, speed=0.025, time_allowance=10,
-                       no_collision_checks=False):
+                       disable_collision_checks=False):
         self.debug("Waiting for 'DriveOnHeading' action server")
         while not self.backup_client.wait_for_server(timeout_sec=1.0):
             self.info("'DriveOnHeading' action server not available, waiting...")
         goal_msg = DriveOnHeading.Goal()
         goal_msg.target = Point(x=float(dist))
         goal_msg.speed = speed
         goal_msg.time_allowance = Duration(sec=time_allowance)
-        goal_msg.no_collision_checks = no_collision_checks
+        goal_msg.disable_collision_checks = disable_collision_checks
 
         self.info(f'Drive {goal_msg.target.x} m on heading at {goal_msg.speed} m/s....')
         send_goal_future = self.drive_on_heading_client.send_goal_async(