Fix twil_2dnav for Jazzy.

diff --git a/twil_2dnav/config/bt_navigator_params.yaml b/twil_2dnav/config/bt_navigator_params.yaml
index 296168b..9540a42 100644 (file)
--- a/twil_2dnav/config/bt_navigator_params.yaml
+++ b/twil_2dnav/config/bt_navigator_params.yaml
@@ -13,34 +13,34 @@ bt_navigator:
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
     plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node

diff --git a/twil_2dnav/config/planner_params.yaml b/twil_2dnav/config/planner_params.yaml
index a9e5c60..707f2ca 100644 (file)
--- a/twil_2dnav/config/planner_params.yaml
+++ b/twil_2dnav/config/planner_params.yaml
@@ -3,7 +3,7 @@ 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

diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index b82f8ce..2027320 100644 (file)
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -61,11 +61,11 @@
        <node pkg="nav2_lifecycle_manager" exec="lifecycle_manager" name="lifecycle_manager_nav2">
                <param name="use_sim_time" value="$(var use_sim_time)"/>
                <param name="autostart" value="$(var autostart)"/>
-               <param name="node_names" value="['map_server',
-                       'controller_server',
-                       'planner_server',
-                       'behavior_server',
-                       'bt_navigator']"/>
+               <param name="node_names" value="[map_server,
+                       controller_server,
+                       planner_server,
+                       behavior_server,
+                       bt_navigator]"/>
        </node>
 
 </launch>