From 5d15ca84da6a55a975e4cfb8939e06c24c76e764 Mon Sep 17 00:00:00 2001 From: Alan Date: Wed, 3 Apr 2024 03:33:14 +0800 Subject: [PATCH] Refactor plugins to use double colons for consistency (#4220) * Refactor the plugin names for bt_navigator to use double colons Signed-off-by: Alan Xue * Refactor the plugin names for planner_server to use double colons Signed-off-by: Alan Xue * Refactor the plugin names for behavior_server to use double colons Signed-off-by: Alan Xue --------- Signed-off-by: Alan Xue --- .../params/nav2_multirobot_params_1.yaml | 14 +++++++------- .../params/nav2_multirobot_params_2.yaml | 14 +++++++------- .../params/nav2_multirobot_params_all.yaml | 16 ++++++++-------- nav2_bringup/params/nav2_params.yaml | 16 ++++++++-------- 4 files changed, 30 insertions(+), 30 deletions(-) diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index 91401fc21f..85be4769c4 100644 --- a/nav2_bringup/params/nav2_multirobot_params_1.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml @@ -49,9 +49,9 @@ bt_navigator: action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml @@ -201,7 +201,7 @@ planner_server: ros__parameters: planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -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 732fa24eb1..7ab3d0e335 100644 --- a/nav2_bringup/params/nav2_multirobot_params_2.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml @@ -49,9 +49,9 @@ bt_navigator: action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml @@ -200,7 +200,7 @@ planner_server: ros__parameters: planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -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 bb812d276b..a61faf1d21 100644 --- a/nav2_bringup/params/nav2_multirobot_params_all.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml @@ -49,9 +49,9 @@ bt_navigator: action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml @@ -234,7 +234,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -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 703151959a..3ac25d13bb 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -49,9 +49,9 @@ bt_navigator: action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml @@ -273,7 +273,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -296,15 +296,15 @@ 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