code cleanup

Signed-off-by: stevedan <[email protected]>

nav2_bringup/params/nav2_params.yaml

@@ -68,7 +68,6 @@ bt_navigator:
 controller_server:
   ros__parameters:
     controller_frequency: 20.0
-    costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -99,10 +98,6 @@ controller_server:
       time_steps: 56
       model_dt: 0.05
       batch_size: 2000
-      ax_max: 3.0
-      ax_min: -3.0
-      ay_max: 3.0
-      az_max: 3.5
       vx_std: 0.2
       vy_std: 0.2
       wz_std: 0.4
@@ -277,7 +272,6 @@ planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
-    costmap_update_timeout: 1.0
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
@@ -374,58 +368,4 @@ collision_monitor:
       topic: "scan"
       min_height: 0.15
       max_height: 2.0
-      enabled: True
-
-docking_server:
-  ros__parameters:
-    controller_frequency: 50.0
-    initial_perception_timeout: 5.0
-    wait_charge_timeout: 5.0
-    dock_approach_timeout: 30.0
-    undock_linear_tolerance: 0.05
-    undock_angular_tolerance: 0.1
-    max_retries: 3
-    base_frame: "base_link"
-    fixed_frame: "odom"
-    dock_backwards: false
-    dock_prestaging_tolerance: 0.5
-
-    # Types of docks
-    dock_plugins: ['simple_charging_dock']
-    simple_charging_dock:
-      plugin: 'opennav_docking::SimpleChargingDock'
-      docking_threshold: 0.05
-      staging_x_offset: -0.7
-      use_external_detection_pose: true
-      use_battery_status: false # true
-      use_stall_detection: false # true
-
-      external_detection_timeout: 1.0
-      external_detection_translation_x: -0.18
-      external_detection_translation_y: 0.0
-      external_detection_rotation_roll: -1.57
-      external_detection_rotation_pitch: -1.57
-      external_detection_rotation_yaw: 0.0
-      filter_coef: 0.1
-
-    # Dock instances
-    # The following example illustrates configuring dock instances.
-    # docks: ['home_dock']  # Input your docks here
-    # home_dock:
-    #   type: 'simple_charging_dock'
-    #   frame: map
-    #   pose: [0.0, 0.0, 0.0]
-
-    controller:
-      k_phi: 3.0
-      k_delta: 2.0
-      v_linear_min: 0.15
-      v_linear_max: 0.15
-
-loopback_simulator:
-  ros__parameters:
-    base_frame_id: "base_footprint"
-    odom_frame_id: "odom"
-    map_frame_id: "map"
-    scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
-    update_duration: 0.02
+      enabled: True

nav2_bringup/rviz/nav2_default_view.rviz

@@ -25,8 +25,8 @@ Panels:
     Name: Navigation 2
   - Class: nav2_rviz_plugins/Selector
     Name: Selector
-  # - Class: nav2_rviz_plugins/Docking
-  #  Name: Docking
+  - Class: nav2_rviz_plugins/Docking
+    Name: Docking
 Visualization Manager:
   Class: ""
   Displays:

nav2_rviz_plugins/CMakeLists.txt

@@ -21,7 +21,6 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
-find_package(backward_ros REQUIRED)
 
 nav2_package()
 

nav2_rviz_plugins/package.xml

@@ -27,7 +27,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
-  <depend>backward_ros</depend>
 
   <exec_depend>libqt5-core</exec_depend>
   <exec_depend>libqt5-gui</exec_depend>

tools/planner_benchmarking/metrics.py

@@ -106,7 +106,7 @@ def main():
     costmap = np.asarray(costmap_msg.data)
     costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x)
 
-    planners = ["DEFAULT_Smac2d", "BIDIRECTIONAL_Smac2d", "ALL_DIRECTION_Smac2d", "DEFAULT_SmacHybrid", "BIDIRECTIONAL_SmacHybrid", "ALL_DIRECTION_SmacHybrid", "DEFAULT_SmacLattice", "BIDIRECTIONAL_SmacLattice", "ALL_DIRECTION_SmacLattice"] 
+    planners = ['Navfn', 'ThetaStar', 'SmacHybrid', 'Smac2d', 'SmacLattice'] 
     max_cost = 210
     side_buffer = 100
     time_stamp = navigator.get_clock().now().to_msg()