diff --git a/nav2_behaviors/behavior_plugin.xml b/nav2_behaviors/behavior_plugin.xml index cd20ae7aa93..8d206e79b8b 100644 --- a/nav2_behaviors/behavior_plugin.xml +++ b/nav2_behaviors/behavior_plugin.xml @@ -1,30 +1,30 @@ - + - + - + - + - + diff --git a/nav2_behaviors/src/behavior_server.cpp b/nav2_behaviors/src/behavior_server.cpp index c7beffd7862..706055161b4 100644 --- a/nav2_behaviors/src/behavior_server.cpp +++ b/nav2_behaviors/src/behavior_server.cpp @@ -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", diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index 91710437421..85be4769c44 100644 --- a/nav2_bringup/params/nav2_multirobot_params_1.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml @@ -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 diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml index e061f96b918..7ab3d0e3351 100644 --- a/nav2_bringup/params/nav2_multirobot_params_2.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml @@ -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 diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml index f1668463227..a61faf1d217 100644 --- a/nav2_bringup/params/nav2_multirobot_params_all.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml @@ -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 diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index f822771d994..d86fab218eb 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -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 diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml index a43ac0a1186..3fbc48f3c0d 100644 --- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml +++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml @@ -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 diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml index 0ad40fa13a2..47494a296d5 100644 --- a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml @@ -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 diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml index 366d7b750fc..b0903c9a333 100644 --- a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml @@ -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 diff --git a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml index 2ba3f66785f..96dc593d824 100644 --- a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml +++ b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml @@ -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