From 34e3f8b6a8bb7468cdba283f41e354d7a87fcc31 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 27 Sep 2023 12:22:37 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index b5b8fa8..d7e5d69 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -56,7 +56,7 @@ bt_navigator: - nav2_compute_path_through_poses_action_bt_node - nav2_smooth_path_action_bt_node - nav2_follow_path_action_bt_node - #- nav2_spin_action_bt_node + - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_assisted_teleop_action_bt_node - nav2_back_up_action_bt_node @@ -94,7 +94,7 @@ bt_navigator: - nav2_controller_cancel_bt_node - nav2_path_longer_on_approach_bt_node - nav2_wait_cancel_bt_node - #- nav2_spin_cancel_bt_node + - nav2_spin_cancel_bt_node - nav2_back_up_cancel_bt_node - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node @@ -668,9 +668,9 @@ behavior_server: costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 - behavior_plugins: [ "backup", "drive_on_heading", "assisted_teleop", "wait"] # "removed spin", - # spin: - # plugin: "nav2_behaviors/Spin" + behavior_plugins: [ "spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] # "removed spin", + spin: + plugin: "nav2_behaviors/Spin" backup: plugin: "nav2_behaviors/BackUp" drive_on_heading: