Fix bt_navigator crashes when restarted #3546
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BriceRenaudeau
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| get_parameter("navigators", navigator_ids); | ||
| if (navigator_ids == default_navigator_ids) { |
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This block is strictly required to declare the types of the defaults. This is non-optional. Please readd default_navigator_types definition and this block. You can use the nav2_utils::declare_if_not_declared function so that it'll only redeclare on lifecycle transition if not already declared.
You could actually do that for navigators too so that you didn't have to change anything other than 2 lines. That would actually be closer in line with best practices.
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Using declare_if_not_declared was my first thought but it doesn't exist anymore.
Maybe default navigators are not necessary (yaml is always required) or I can also declare them in the constructor.
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I'm not sure what you mean by that, we have that in quite a few places in Nav2 😄
Its a nav2_utils function
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My bad, I was looking for declare_if_not_declared instead of declare_parameter_if_not_declared ...
I will make the modification.
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Just minor fix to merge :-) |
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@BriceRenaudeau every single system test failed - maybe you should rebase? I also retriggered the tests in case it was a fluke. It might be a problem with CI but I'm having issues with building the nightlys to even check relative. Rebase and push and if its still failing I'll take it as an action item to figure out why |
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Actually I confirmed this was happening in other days builds. I'll need to look into that. Thanks! |
* Update bt_navigator.cpp * Clean uncrestify * Use declare_parameter_if_not_declared
* Update bt_navigator.cpp * Clean uncrestify * Use declare_parameter_if_not_declared Signed-off-by: enricosutera <enricosutera@outlook.com>
Basic Info
Description of contribution in a few bullet points
declare_parameter("navigators")in the constructordefault_navigator_typesFor Maintainers: