diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt index 42911c68ea..c6465c2c8f 100644 --- a/nav2_behavior_tree/CMakeLists.txt +++ b/nav2_behavior_tree/CMakeLists.txt @@ -219,13 +219,16 @@ install(TARGETS ${library_name} RUNTIME DESTINATION bin ) +# we will embed the list of plugin names inside a header file +set(GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/gen) +configure_file(plugins_list.hpp.in ${GENERATED_DIR}/plugins_list.hpp) + add_executable(generate_nav2_tree_nodes_xml src/generate_nav2_tree_nodes_xml.cpp) ament_target_dependencies(generate_nav2_tree_nodes_xml ${dependencies}) -# we will embed the list of plugin names inside a header file -configure_file(plugins_list.hpp.in ${CMAKE_CURRENT_BINARY_DIR}/gen/plugins_list.hpp) -target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/gen) -install(TARGETS generate_nav2_tree_nodes_xml - DESTINATION lib/${PROJECT_NAME} ) +# allow generate_nav2_tree_nodes_xml to find plugins_list.hpp +target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR}) +install(TARGETS generate_nav2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME}) + install(DIRECTORY include/ DESTINATION include/ @@ -236,8 +239,7 @@ install(DIRECTORY test/utils/ ) install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME}) -install(FILES ${CMAKE_CURRENT_BINARY_DIR}/gen/plugins_list.hpp DESTINATION include/${PROJECT_NAME}) - +install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/nav2_behavior_tree/plugins_list.hpp.in b/nav2_behavior_tree/plugins_list.hpp.in index d93a484cad..148583b927 100644 --- a/nav2_behavior_tree/plugins_list.hpp.in +++ b/nav2_behavior_tree/plugins_list.hpp.in @@ -2,5 +2,5 @@ // This was automativally generated by cmake namespace nav2::details { - const char* BT_PLUGIN_LIST = "@plugin_libs@"; + const char* BT_BUILTIN_PLUGINS = "@plugin_libs@"; } diff --git a/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp b/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp index 1c7a3c44f1..01bdf6a685 100644 --- a/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp +++ b/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp @@ -29,7 +29,7 @@ int main() BT::BehaviorTreeFactory factory; std::vector plugins_list; - boost::split(plugins_list, nav2::details::BT_PLUGIN_LIST, boost::is_any_of(";")); + boost::split(plugins_list, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); for (const auto & plugin : plugins_list) { std::cout << "Loading: " << plugin << "\n"; diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index baceb0e531..555f3ff8be 100644 --- a/nav2_bringup/params/nav2_multirobot_params_1.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml @@ -56,58 +56,11 @@ bt_navigator: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - 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_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_is_battery_charging_condition_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml index 583bb64b56..c3399bbeb1 100644 --- a/nav2_bringup/params/nav2_multirobot_params_2.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml @@ -56,58 +56,11 @@ bt_navigator: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - 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_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_is_battery_charging_condition_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml index 5fb4b9fe63..1dac20e5e3 100644 --- a/nav2_bringup/params/nav2_multirobot_params_all.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml @@ -56,58 +56,11 @@ bt_navigator: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - 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_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_is_battery_charging_condition_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 0e3427a17b..ac8900076f 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -56,58 +56,11 @@ bt_navigator: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - 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_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_is_battery_charging_condition_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp index 82beb93999..2b2c116eeb 100644 --- a/nav2_bt_navigator/src/bt_navigator.cpp +++ b/nav2_bt_navigator/src/bt_navigator.cpp @@ -18,12 +18,15 @@ #include #include #include +#include #include "nav2_util/geometry_utils.hpp" #include "nav2_util/node_utils.hpp" #include "nav2_util/robot_utils.hpp" #include "nav2_behavior_tree/bt_utils.hpp" +#include "nav2_behavior_tree/plugins_list.hpp" + using nav2_util::declare_parameter_if_not_declared; namespace nav2_bt_navigator @@ -36,62 +39,8 @@ BtNavigator::BtNavigator(rclcpp::NodeOptions options) { RCLCPP_INFO(get_logger(), "Creating"); - const std::vector plugin_libs = { - "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_initial_pose_received_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_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_assisted_teleop_cancel_bt_node", - "nav2_back_up_cancel_bt_node", - "nav2_drive_on_heading_cancel_bt_node", - "nav2_is_battery_charging_condition_bt_node" - }; - declare_parameter_if_not_declared( - this, "plugin_lib_names", rclcpp::ParameterValue(plugin_libs)); + this, "plugin_lib_names", rclcpp::ParameterValue(std::vector{})); declare_parameter_if_not_declared( this, "transform_tolerance", rclcpp::ParameterValue(0.1)); declare_parameter_if_not_declared( @@ -124,7 +73,13 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/) odom_topic_ = get_parameter("odom_topic").as_string(); // Libraries to pull plugins (BT Nodes) from - auto plugin_lib_names = get_parameter("plugin_lib_names").as_string_array(); + std::vector plugin_lib_names; + boost::split(plugin_lib_names, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); + auto user_defined_plugins = get_parameter("plugin_lib_names").as_string_array(); + // append user_defined_plugins to plugin_lib_names + plugin_lib_names.insert( + plugin_lib_names.end(), user_defined_plugins.begin(), + user_defined_plugins.end()); nav2_core::FeedbackUtils feedback_utils; feedback_utils.tf = tf_; diff --git a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp index 0825f99fbe..c9c718a177 100644 --- a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp +++ b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp @@ -62,7 +62,7 @@ class BehaviorTreeHandler odom_smoother_ = std::make_shared(node_); std::vector plugin_libs; - boost::split(plugin_libs, nav2::details::BT_PLUGIN_LIST, boost::is_any_of(";")); + boost::split(plugin_libs, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); for (const auto & p : plugin_libs) { factory_.registerFromPlugin(BT::SharedLibrary::getOSName(p)); diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml index f5d79153ec..c2e4cb0e0d 100644 --- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml +++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml @@ -47,51 +47,10 @@ bt_navigator: # files to allow for a commandline change default used is the # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml & # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - 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_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_goal_reached_condition_bt_node - - nav2_goal_updated_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_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_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 + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] controller_server: ros__parameters: diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml index bf65fdf9ba..7ca28f876d 100644 --- a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml @@ -47,52 +47,10 @@ bt_navigator: # files to allow for a commandline change default used is the # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml & # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - 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_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_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_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_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 + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] controller_server: ros__parameters: diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml index 3799062cf8..dd7b304c64 100644 --- a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml @@ -47,52 +47,10 @@ bt_navigator: # files to allow for a commandline change default used is the # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml & # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - 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_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_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_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_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 + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] controller_server: ros__parameters: 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 index b8bc078103..07a451e00b 100644 --- a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml +++ b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml @@ -15,58 +15,11 @@ bt_navigator: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - 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_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_is_battery_charging_condition_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code