From b1196bdea600ff747ac9f709bfd9852ae9ca9bcb Mon Sep 17 00:00:00 2001 From: Spaarsh Date: Fri, 13 Feb 2026 19:02:34 +0800 Subject: [PATCH] [FIX] Migrating from ros-humble to ros-jazzy --- _meta/repos/arena.repos | 42 ++++++++-------- arena_bringup/package.xml | 9 ++++ .../empty/interplanner_config.yaml | 3 +- .../follow_point/interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../interplanner_config.yaml | 49 +------------------ .../configs/nav2/model_params.yaml | 2 +- arena_simulation_setup/configs/nav2/nav2.yaml | 2 - .../nav2/planners/navfn/planner_config.yaml | 2 +- arena_simulation_setup/package.xml | 1 + 19 files changed, 46 insertions(+), 603 deletions(-) diff --git a/_meta/repos/arena.repos b/_meta/repos/arena.repos index 45afeeb..eb7a442 100644 --- a/_meta/repos/arena.repos +++ b/_meta/repos/arena.repos @@ -41,26 +41,26 @@ repositories: # url: https://github.com/ros/xacro.git # version: ros2 - deps/nav2/navigation2: - type: git - url: https://github.com/voshch/navigation2.git - version: jazzy - deps/nav2/bond_core: - type: git - url: https://github.com/ros/bond_core.git - version: ros2 - deps/nav2/BehaviorTree.CPP: - type: git - url: https://github.com/BehaviorTree/BehaviorTree.CPP.git - version: v3.8 - deps/nav2/diagnostics: - type: git - url: https://github.com/ros/diagnostics.git - version: ros2 - deps/nav2/angles: - type: git - url: https://github.com/ros/angles.git - version: ros2 + # deps/nav2/navigation2: + # type: git + # url: https://github.com/voshch/navigation2.git + # version: jazzy + # deps/nav2/bond_core: + # type: git + # url: https://github.com/ros/bond_core.git + # version: ros2 + # deps/nav2/BehaviorTree.CPP: + # type: git + # url: https://github.com/BehaviorTree/BehaviorTree.CPP.git + # version: v3.8 + # deps/nav2/diagnostics: + # type: git + # url: https://github.com/ros/diagnostics.git + # version: ros2 + # deps/nav2/angles: + # type: git + # url: https://github.com/ros/angles.git + # version: ros2 deps/slam_toolbox: type: git @@ -78,4 +78,4 @@ repositories: deps/hunav/arena_hunav_sim_bridge: type: git url: https://github.com/ductaingn/arena_hunav_sim_bridge.git - version: humble \ No newline at end of file + version: humble diff --git a/arena_bringup/package.xml b/arena_bringup/package.xml index 9d38c94..e9eec49 100755 --- a/arena_bringup/package.xml +++ b/arena_bringup/package.xml @@ -12,6 +12,15 @@ nav2_msgs joint_state_publisher nav2_map_server + navigation2 + nav2_bringup + nav2_waypoint_follower + + bondcpp + behaviortree_cpp_v3 + diagnostics + angles + slam_toolbox ament_python diff --git a/arena_simulation_setup/configs/nav2/interplanners/empty/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/empty/interplanner_config.yaml index f854626..33abb62 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/empty/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/empty/interplanner_config.yaml @@ -2,8 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/empty/interplanner_behaviour.xml" default_nav_through_poses_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/empty/interplanner_behaviour.xml" - plugin_lib_names: - - "nav2_compute_path_to_pose_action_bt_node" # minimal configuration for plugin_lib_names + plugin_lib_names: [] # minimal configuration for plugin_lib_names # has no effect since empty behavior tree is used which does not use any plugins but is used to avoid error diff --git a/arena_simulation_setup/configs/nav2/interplanners/follow_point/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/follow_point/interplanner_config.yaml index 9d220f5..b03a57f 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/follow_point/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/follow_point/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/follow_point/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid/interplanner_config.yaml index 9befc12..4a7581b 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_through_poses_w_replanning_and_recovery/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_through_poses_w_replanning_and_recovery/interplanner_config.yaml index cf1894a..05fb716 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_through_poses_w_replanning_and_recovery/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_through_poses_w_replanning_and_recovery/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "" default_nav_through_poses_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_through_poses_w_replanning_and_recovery/interplanner_behaviour.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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_and_recovery/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_and_recovery/interplanner_config.yaml index 25eb595..3eb6964 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_and_recovery/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_and_recovery/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_to_pose_w_replanning_and_recovery/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_goal_patience_and_recovery/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_goal_patience_and_recovery/interplanner_config.yaml index c705097..6d55a8a 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_goal_patience_and_recovery/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_to_pose_w_replanning_goal_patience_and_recovery/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_to_pose_w_replanning_goal_patience_and_recovery/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid/interplanner_config.yaml index 3cc1f56..7cae193 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_distance/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_distance/interplanner_config.yaml index cf7811b..ac7475a 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_distance/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_distance/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_w_replanning_distance/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_goal_is_updated/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_goal_is_updated/interplanner_config.yaml index 94669e9..a4f2948 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_goal_is_updated/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_goal_is_updated/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_w_replanning_only_if_goal_is_updated/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_path_becomes_invalid/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_path_becomes_invalid/interplanner_config.yaml index 6a52acd..37e4055 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_path_becomes_invalid/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_only_if_path_becomes_invalid/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_w_replanning_only_if_path_becomes_invalid/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_speed/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_speed/interplanner_config.yaml index eb9b243..602a3bc 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_speed/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_speed/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_w_replanning_speed/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_time/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_time/interplanner_config.yaml index 31986e6..0116f38 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_time/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/navigate_w_replanning_time/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/navigate_w_replanning_time/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/interplanners/odometry_calibration/interplanner_config.yaml b/arena_simulation_setup/configs/nav2/interplanners/odometry_calibration/interplanner_config.yaml index f8e2ddb..458c782 100644 --- a/arena_simulation_setup/configs/nav2/interplanners/odometry_calibration/interplanner_config.yaml +++ b/arena_simulation_setup/configs/nav2/interplanners/odometry_calibration/interplanner_config.yaml @@ -2,54 +2,7 @@ bt_navigator: ros__parameters: default_nav_to_pose_bt_xml: "$(find-pkg-share arena_simulation_setup)/configs/nav2/interplanners/odometry_calibration/interplanner_behaviour.xml" default_nav_through_poses_bt_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_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_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: [] error_code_names: - compute_path_error_code - follow_path_error_code \ No newline at end of file diff --git a/arena_simulation_setup/configs/nav2/model_params.yaml b/arena_simulation_setup/configs/nav2/model_params.yaml index b2c8a86..c40fa27 100644 --- a/arena_simulation_setup/configs/nav2/model_params.yaml +++ b/arena_simulation_setup/configs/nav2/model_params.yaml @@ -25,7 +25,7 @@ planner_plugins: - GridBased planner_plugins_dict: GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true diff --git a/arena_simulation_setup/configs/nav2/nav2.yaml b/arena_simulation_setup/configs/nav2/nav2.yaml index 014e552..3df6158 100644 --- a/arena_simulation_setup/configs/nav2/nav2.yaml +++ b/arena_simulation_setup/configs/nav2/nav2.yaml @@ -55,8 +55,6 @@ bt_navigator: default_nav_to_pose_bt_xml: ${default_nav_to_pose_bt_xml} default_nav_through_poses_bt_xml: ${default_nav_through_poses_bt_xml} - - plugin_lib_names: ${plugin_lib_names} bt_navigator_rclcpp_node: ros__parameters: diff --git a/arena_simulation_setup/configs/nav2/planners/navfn/planner_config.yaml b/arena_simulation_setup/configs/nav2/planners/navfn/planner_config.yaml index ce5ae37..3dd8470 100644 --- a/arena_simulation_setup/configs/nav2/planners/navfn/planner_config.yaml +++ b/arena_simulation_setup/configs/nav2/planners/navfn/planner_config.yaml @@ -1,7 +1,7 @@ planner_plugins_dict: planner_plugins: ['GridBased'] GridBased: - plugin: 'nav2_navfn_planner/NavfnPlanner' + plugin: 'nav2_navfn_planner::NavfnPlanner' use_astar: true allow_unknown: true tolerance: 0.5 \ No newline at end of file diff --git a/arena_simulation_setup/package.xml b/arena_simulation_setup/package.xml index 5b1d9cd..8b9bb8f 100644 --- a/arena_simulation_setup/package.xml +++ b/arena_simulation_setup/package.xml @@ -25,6 +25,7 @@ geometry_msgs tf2_ros tf2_geometry_msgs + nav2_waypoint_follower ament_python