update

config/nav2_params.yaml

@@ -1,5 +1,6 @@
 amcl:
   ros__parameters:
+    use_sim_time: True
     alpha1: 0.2
     alpha2: 0.2
     alpha3: 0.2
@@ -40,17 +41,12 @@ amcl:
 
 bt_navigator:
   ros__parameters:
+    use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
-    action_server_result_timeout: 900.0
-    navigators: ["navigate_to_pose", "navigate_through_poses"]
-    navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
-    navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -71,10 +67,6 @@ bt_navigator:
       - nav2_goal_updated_condition_bt_node
       - nav2_globally_updated_goal_condition_bt_node
       - nav2_is_path_valid_condition_bt_node
-      - nav2_are_error_codes_active_condition_bt_node
-      - nav2_would_a_controller_recovery_help_condition_bt_node
-      - nav2_would_a_planner_recovery_help_condition_bt_node
-      - nav2_would_a_smoother_recovery_help_condition_bt_node
       - nav2_initial_pose_received_condition_bt_node
       - nav2_reinitialize_global_localization_service_bt_node
       - nav2_rate_controller_bt_node
@@ -107,18 +99,24 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
-    error_code_names:
-      - compute_path_error_code
-      - follow_path_error_code
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
 
 controller_server:
   ros__parameters:
+    use_sim_time: True
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
     failure_tolerance: 0.3
-    progress_checker_plugins: ["progress_checker"]
+    progress_checker_plugin: "progress_checker"
     goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
     controller_plugins: ["FollowPath"]
 
@@ -188,12 +186,12 @@ local_costmap:
       publish_frequency: 2.0
       global_frame: odom
       robot_base_frame: base_link
+      use_sim_time: True
       rolling_window: true
       width: 3
       height: 3
       resolution: 0.05
-      #robot_radius: 0.22
-      footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
+      robot_radius: 0.22
       plugins: ["voxel_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
@@ -231,8 +229,8 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      #robot_radius: 0.22
-      footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
+      use_sim_time: True
+      robot_radius: 0.22
       resolution: 0.05
       track_unknown_space: true
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
@@ -259,15 +257,16 @@ global_costmap:
         inflation_radius: 0.55
       always_send_full_costmap: True
 
-# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
-# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
-# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
-# map_server:
-#   ros__parameters:
-#     yaml_filename: ""
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    # Overridden in launch by the "map" launch configuration or provided default value.
+    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
+    yaml_filename: ""
 
 map_saver:
   ros__parameters:
+    use_sim_time: True
     save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
@@ -276,6 +275,7 @@ map_saver:
 planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
+    use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
       plugin: "nav2_navfn_planner/NavfnPlanner"
@@ -285,6 +285,7 @@ planner_server:
 
 smoother_server:
   ros__parameters:
+    use_sim_time: True
     smoother_plugins: ["simple_smoother"]
     simple_smoother:
       plugin: "nav2_smoother::SimpleSmoother"
@@ -294,10 +295,8 @@ smoother_server:
 
 behavior_server:
   ros__parameters:
-    local_costmap_topic: local_costmap/costmap_raw
-    global_costmap_topic: global_costmap/costmap_raw
-    local_footprint_topic: local_costmap/published_footprint
-    global_footprint_topic: global_costmap/published_footprint
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
@@ -310,20 +309,24 @@ behavior_server:
       plugin: "nav2_behaviors/Wait"
     assisted_teleop:
       plugin: "nav2_behaviors/AssistedTeleop"
-    local_frame: odom
-    global_frame: map
+    global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
+    use_sim_time: true
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
     min_rotational_vel: 0.4
     rotational_acc_lim: 3.2
 
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
 waypoint_follower:
   ros__parameters:
+    use_sim_time: True
     loop_rate: 20
     stop_on_failure: false
-    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
@@ -332,6 +335,7 @@ waypoint_follower:
 
 velocity_smoother:
   ros__parameters:
+    use_sim_time: True
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"