From 7ad13883de598c430b7279d649c3af4db0b3661f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 6 Sep 2023 10:02:27 +0200
Subject: [PATCH] update: sim time false

---
 config/nav2_params.yaml | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index b69ed72..89b6e4d 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -1,6 +1,6 @@
 amcl:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     alpha1: 0.2
     alpha2: 0.2
     alpha3: 0.2
@@ -41,7 +41,7 @@ amcl:
 
 bt_navigator:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odometry/filtered
@@ -102,15 +102,15 @@ bt_navigator:
 
 bt_navigator_navigate_through_poses_rclcpp_node:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
 
 bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
 
 controller_server:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     controller_frequency: 50.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.001
@@ -199,7 +199,7 @@ local_costmap:
       publish_frequency: 5.0 # was 2.0
       global_frame: odom
       robot_base_frame: base_link
-      use_sim_time: True
+      use_sim_time: False
       rolling_window: true
       width: 3
       height: 3
@@ -246,7 +246,7 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      use_sim_time: True
+      use_sim_time: False
       #robot_radius: 0.50
       footprint: "[ [0.21, 0.255], [0.21, -0.255], [-0.52, -0.255], [-0.52, 0.255] ]"
       resolution: 0.05
@@ -287,7 +287,7 @@ map_server:
 
 map_saver:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
@@ -296,7 +296,7 @@ map_saver:
 planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
-    use_sim_time: True
+    use_sim_time: False
     planner_plugins: ["GridBased"]
     GridBased:
       #plugin: "nav2_navfn_planner/NavfnPlanner"
@@ -307,7 +307,7 @@ planner_server:
 
 smoother_server:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     smoother_plugins: ["simple_smoother"]
     simple_smoother:
       plugin: "nav2_smoother::SimpleSmoother"
@@ -334,7 +334,7 @@ behavior_server:
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
-    use_sim_time: true
+    use_sim_time: False
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
     min_rotational_vel: 0.4
@@ -342,11 +342,11 @@ behavior_server:
 
 robot_state_publisher:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
 
 waypoint_follower:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     loop_rate: 20
     stop_on_failure: false
     waypoint_task_executor_plugin: "wait_at_waypoint"
@@ -357,7 +357,7 @@ waypoint_follower:
 
 velocity_smoother:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: False
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"