Selector plugin for selecting the planner and the controller (ros-nav…

…igation#4091) * initial commit Signed-off-by: PRP <[email protected]> * now dynamic reconfigurability also be achieved Signed-off-by: PRP <[email protected]> * updating the changes Signed-off-by: PRP <[email protected]> * fixing the mistake Signed-off-by: PRP <[email protected]> * adding default values for the selector Signed-off-by: PRP <[email protected]> * updating the plugin description Signed-off-by: PRP <[email protected]> * setting default in combox and removing after selected Signed-off-by: PRP <[email protected]> * minor Signed-off-by: PRP <[email protected]> * adding goal checker and smoother selectors to the plugins Signed-off-by: PRP <[email protected]> * updating all the relevant BTs Signed-off-by: PRP <[email protected]> * updating to 2x2 version Signed-off-by: PRP <[email protected]> * updating the bringup too Signed-off-by: PRP <[email protected]> * fixing the race condition Signed-off-by: PRP <[email protected]> * adding progress checker to the selector plugin Signed-off-by: PRP <[email protected]> * fixing CI Signed-off-by: PRP <[email protected]> * updating the cache version Signed-off-by: PRP <[email protected]> --------- Signed-off-by: PRP <[email protected]>
savalena · Feb 9, 2024 · ae31694 · ae31694
1 parent a1a5ca0
commit ae31694
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Showing 5 changed files with 11 additions and 1 deletion.
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     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
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     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
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     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
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -20,9 +20,11 @@ Panels:
     Expanded:
       - /Current View1
     Name: Views
-    Splitter Ratio: 0.5
+    Splitter Ratio: 0.3333333432674408
   - Class: nav2_rviz_plugins/Navigation 2
     Name: Navigation 2
+  - Class: nav2_rviz_plugins/Selector
+    Name: Selector
 Visualization Manager:
   Class: ""
   Displays: