From a77668eebebb2ccf79f8e71892c09275fdd1a9cc Mon Sep 17 00:00:00 2001 From: Pradheep Krishna Date: Fri, 9 Feb 2024 00:42:06 +0530 Subject: [PATCH] fixes for CI (#1) Signed-off-by: PRP --- nav2_bringup/params/nav2_multirobot_params_1.yaml | 2 ++ nav2_bringup/params/nav2_multirobot_params_2.yaml | 2 ++ nav2_bringup/params/nav2_multirobot_params_all.yaml | 2 ++ nav2_bringup/params/nav2_params.yaml | 2 ++ nav2_bt_navigator/src/bt_navigator.cpp | 4 +++- nav2_system_tests/src/costmap_filters/keepout_params.yaml | 5 +++++ .../src/costmap_filters/speed_global_params.yaml | 5 +++++ .../src/costmap_filters/speed_local_params.yaml | 5 +++++ nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml | 2 ++ 9 files changed, 28 insertions(+), 1 deletion(-) diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index baceb0e531b..172a832100d 100644 --- a/nav2_bringup/params/nav2_multirobot_params_1.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml @@ -108,6 +108,8 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node + - nav2_progress_checker_selector_bt_node + - nav2_smoother_selector_bt_node error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml index 583bb64b562..da426b4722f 100644 --- a/nav2_bringup/params/nav2_multirobot_params_2.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml @@ -108,6 +108,8 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node + - nav2_progress_checker_selector_bt_node + - nav2_smoother_selector_bt_node error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml index 5fb4b9fe631..8249df84d17 100644 --- a/nav2_bringup/params/nav2_multirobot_params_all.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml @@ -108,6 +108,8 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node + - nav2_progress_checker_selector_bt_node + - nav2_smoother_selector_bt_node error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 5f0e6e775d1..28b23ab2897 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -108,6 +108,8 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node + - nav2_progress_checker_selector_bt_node + - nav2_smoother_selector_bt_node error_code_names: - compute_path_error_code - follow_path_error_code diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp index 82beb939994..c588e6ff4d0 100644 --- a/nav2_bt_navigator/src/bt_navigator.cpp +++ b/nav2_bt_navigator/src/bt_navigator.cpp @@ -87,7 +87,9 @@ BtNavigator::BtNavigator(rclcpp::NodeOptions options) "nav2_assisted_teleop_cancel_bt_node", "nav2_back_up_cancel_bt_node", "nav2_drive_on_heading_cancel_bt_node", - "nav2_is_battery_charging_condition_bt_node" + "nav2_is_battery_charging_condition_bt_node", + "nav2_progress_checker_selector_bt_node", + "nav2_smoother_selector_bt_node" }; declare_parameter_if_not_declared( diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml index f5d79153ec0..5c948331f00 100644 --- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml +++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml @@ -92,6 +92,11 @@ bt_navigator: - nav2_back_up_cancel_bt_node - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_planner_selector_bt_node + - nav2_smoother_selector_bt_node + - nav2_progress_checker_selector_bt_node controller_server: ros__parameters: 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 bf65fdf9ba5..c887ac3ce57 100644 --- a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml @@ -93,6 +93,11 @@ bt_navigator: - nav2_back_up_cancel_bt_node - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_planner_selector_bt_node + - nav2_smoother_selector_bt_node + - nav2_progress_checker_selector_bt_node controller_server: ros__parameters: 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 3799062cf87..8bfe04488d5 100644 --- a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml @@ -93,6 +93,11 @@ bt_navigator: - nav2_back_up_cancel_bt_node - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_planner_selector_bt_node + - nav2_smoother_selector_bt_node + - nav2_progress_checker_selector_bt_node controller_server: ros__parameters: 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 b8bc078103b..d11ef6ab535 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 @@ -67,6 +67,8 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node + - nav2_progress_checker_selector_bt_node + - nav2_smoother_selector_bt_node error_code_names: - compute_path_error_code - follow_path_error_code