From d65d818c47c3509fef656623fe1a9755a2f15ed4 Mon Sep 17 00:00:00 2001
From: Alan Xue <alan.xuefei@googlemail.com>
Date: Wed, 27 Mar 2024 13:51:14 +0000
Subject: [PATCH] Refactor the plugin names for behavior_server to use double
 colons

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
---
 nav2_behaviors/behavior_plugin.xml                     | 10 +++++-----
 nav2_behaviors/src/behavior_server.cpp                 |  8 ++++----
 nav2_bringup/params/nav2_multirobot_params_1.yaml      |  8 ++++----
 nav2_bringup/params/nav2_multirobot_params_2.yaml      |  8 ++++----
 nav2_bringup/params/nav2_multirobot_params_all.yaml    | 10 +++++-----
 nav2_bringup/params/nav2_params.yaml                   | 10 +++++-----
 .../src/costmap_filters/keepout_params.yaml            |  8 ++++----
 .../src/costmap_filters/speed_global_params.yaml       |  8 ++++----
 .../src/costmap_filters/speed_local_params.yaml        |  8 ++++----
 .../src/gps_navigation/nav2_no_map_params.yaml         | 10 +++++-----
 10 files changed, 44 insertions(+), 44 deletions(-)

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 @@
 <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 name="nav2_behaviors::DriveOnHeading" 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>
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