Add feedback in navigation2 actions (ros-navigation#1736)

* adding navigate to pose feedback and remove random crawl from master * adding controller feedback * recovery feedback actions * Update nav2_controller/src/nav2_controller.cpp Co-Authored-By: Carl Delsey <1828778+cdelsey@users.noreply.github.com> * Add feedback in wait action and make general improvements Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix rebase errors * Make feedback reset across different goals Co-authored-by: stevemacenski <stevenmacenski@gmail.com> Co-authored-by: Carl Delsey <1828778+cdelsey@users.noreply.github.com>
savalena · May 15, 2020 · 6466ca3 · 6466ca3
1 parent de4feca
commit 6466ca3
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 0 deletions.
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -49,6 +49,8 @@ amcl_rclcpp_node:
 bt_navigator:
   ros__parameters:
     use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
     bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node

diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -49,6 +49,8 @@ amcl_rclcpp_node:
 bt_navigator:
   ros__parameters:
     use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
     bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node

diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -49,6 +49,8 @@ amcl_rclcpp_node:
 bt_navigator:
   ros__parameters:
     use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
     bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node