ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-09-27 12:22:37 +02:00
parent 0ccb510480
commit 34e3f8b6a8
1 changed files with 5 additions and 5 deletions
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10
config/nav2_params.yaml
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@ -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: