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Refactor the plugin names for behavior_server to use double colons
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@alanxuefei
alanxuefei committed Mar 27, 2024
1 parent b0d1c0a commit 7bcf654
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Showing 10 changed files with 44 additions and 44 deletions.
10 changes: 5 additions & 5 deletions nav2_behaviors/behavior_plugin.xml
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Original file line number Diff line number Diff line change
@@ -1,30 +1,30 @@
<class_libraries>
<library path="nav2_spin_behavior">
<class name="nav2_behaviors/Spin" type="nav2_behaviors::Spin" base_class_type="nav2_core::Behavior">
<class type="nav2_behaviors::Spin" base_class_type="nav2_core::Behavior">
<description></description>
</class>
</library>

<library path="nav2_back_up_behavior">
<class name="nav2_behaviors/BackUp" type="nav2_behaviors::BackUp" base_class_type="nav2_core::Behavior">
<class type="nav2_behaviors::BackUp" base_class_type="nav2_core::Behavior">
<description></description>
</class>
</library>

<library path="nav2_drive_on_heading_behavior">
<class name="nav2_behaviors/DriveOnHeading" type="nav2_behaviors::DriveOnHeading&lt;&gt;" base_class_type="nav2_core::Behavior">
<class type="nav2_behaviors::DriveOnHeading&lt;&gt;" base_class_type="nav2_core::Behavior">
<description></description>
</class>
</library>

<library path="nav2_wait_behavior">
<class name="nav2_behaviors/Wait" type="nav2_behaviors::Wait" base_class_type="nav2_core::Behavior">
<class type="nav2_behaviors::Wait" base_class_type="nav2_core::Behavior">
<description></description>
</class>
</library>

<library path="nav2_assisted_teleop_behavior">
<class name="nav2_behaviors/AssistedTeleop" type="nav2_behaviors::AssistedTeleop" base_class_type="nav2_core::Behavior">
<class type="nav2_behaviors::AssistedTeleop" base_class_type="nav2_core::Behavior">
<description></description>
</class>
</library>
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8 changes: 4 additions & 4 deletions nav2_behaviors/src/behavior_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,10 +26,10 @@ BehaviorServer::BehaviorServer(const rclcpp::NodeOptions & options)
: LifecycleNode("behavior_server", "", options),
plugin_loader_("nav2_core", "nav2_core::Behavior"),
default_ids_{"spin", "backup", "drive_on_heading", "wait"},
default_types_{"nav2_behaviors/Spin",
"nav2_behaviors/BackUp",
"nav2_behaviors/DriveOnHeading",
"nav2_behaviors/Wait"}
default_types_{"nav2_behaviors::Spin",
"nav2_behaviors::BackUp",
"nav2_behaviors::DriveOnHeading",
"nav2_behaviors::Wait"}
{
declare_parameter(
"local_costmap_topic",
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8 changes: 4 additions & 4 deletions nav2_bringup/params/nav2_multirobot_params_1.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -213,13 +213,13 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
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8 changes: 4 additions & 4 deletions nav2_bringup/params/nav2_multirobot_params_2.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -212,13 +212,13 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
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10 changes: 5 additions & 5 deletions nav2_bringup/params/nav2_multirobot_params_all.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -257,15 +257,15 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_link
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10 changes: 5 additions & 5 deletions nav2_bringup/params/nav2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -254,15 +254,15 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_link
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8 changes: 4 additions & 4 deletions nav2_system_tests/src/costmap_filters/keepout_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -228,13 +228,13 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
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8 changes: 4 additions & 4 deletions nav2_system_tests/src/costmap_filters/speed_global_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -218,13 +218,13 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
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8 changes: 4 additions & 4 deletions nav2_system_tests/src/costmap_filters/speed_local_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -218,13 +218,13 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
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10 changes: 5 additions & 5 deletions nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -218,15 +218,15 @@ behavior_server:
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_link
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