From ae31694be6e07147c857f13d725d52555a40aea6 Mon Sep 17 00:00:00 2001 From: Pradheep Krishna Date: Sat, 10 Feb 2024 01:16:45 +0530 Subject: [PATCH] Selector plugin for selecting the planner and the controller (#4091) * initial commit Signed-off-by: PRP * now dynamic reconfigurability also be achieved Signed-off-by: PRP * updating the changes Signed-off-by: PRP * fixing the mistake Signed-off-by: PRP * adding default values for the selector Signed-off-by: PRP * updating the plugin description Signed-off-by: PRP * setting default in combox and removing after selected Signed-off-by: PRP * minor Signed-off-by: PRP * adding goal checker and smoother selectors to the plugins Signed-off-by: PRP * updating all the relevant BTs Signed-off-by: PRP * updating to 2x2 version Signed-off-by: PRP * updating the bringup too Signed-off-by: PRP * fixing the race condition Signed-off-by: PRP * adding progress checker to the selector plugin Signed-off-by: PRP * fixing CI Signed-off-by: PRP * updating the cache version Signed-off-by: PRP --------- Signed-off-by: PRP --- nav2_bringup/params/nav2_multirobot_params_1.yaml | 2 ++ nav2_bringup/params/nav2_multirobot_params_2.yaml | 2 ++ nav2_bringup/params/nav2_multirobot_params_all.yaml | 2 ++ nav2_bringup/params/nav2_params.yaml | 2 ++ nav2_bringup/rviz/nav2_default_view.rviz | 4 +++- 5 files changed, 11 insertions(+), 1 deletion(-) diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index baceb0e531..172a832100 100644 --- 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 index 583bb64b56..da426b4722 100644 --- 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 index 5fb4b9fe63..8249df84d1 100644 --- 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 index 5f0e6e775d..28b23ab289 100644 --- 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 index d8bade77d8..28e4f10334 100644 --- 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: