diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index e6a8b511b5..f9fa718b3e 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -368,7 +368,7 @@ Parameters Description Time with which to post-date the transform that is published, to indicate that this transform is valid into the future. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -377,7 +377,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :update_min_a: @@ -523,7 +523,7 @@ Example alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_footprint" - service_introspection_mode: "disabled" + introspection_mode: "disabled" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 diff --git a/configuration/packages/configuring-behavior-server.rst b/configuration/packages/configuring-behavior-server.rst index 69c8a23a25..502d2126c3 100644 --- a/configuration/packages/configuring-behavior-server.rst +++ b/configuration/packages/configuring-behavior-server.rst @@ -115,7 +115,7 @@ Behavior Server Parameters Description Robot base frame. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -124,7 +124,7 @@ Behavior Server Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :behavior_plugins: diff --git a/configuration/packages/configuring-bt-navigator.rst b/configuration/packages/configuring-bt-navigator.rst index 5bf66f6ef4..c28e6070ae 100644 --- a/configuration/packages/configuring-bt-navigator.rst +++ b/configuration/packages/configuring-bt-navigator.rst @@ -125,7 +125,7 @@ Parameters Default timeout value (in milliseconds) while Action or Service BT nodes will waiting for acknowledgement from an service or action server on BT initialization (e.g. ``wait_for_action_server(timeout)``). This value will be overwritten for a BT node if the input port "wait_for_service_timeout" is provided. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -134,7 +134,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :transform_tolerance: @@ -353,7 +353,7 @@ Example robot_base_frame: base_link transform_tolerance: 0.1 filter_duration: 0.3 - service_intropection_mode: "disabled" + introspection_mode: "disabled" default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml always_reload_bt_xml: false diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst index 85a34e61ae..8ab939362b 100644 --- a/configuration/packages/configuring-controller-server.rst +++ b/configuration/packages/configuring-controller-server.rst @@ -226,7 +226,7 @@ Parameters Description The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -235,7 +235,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :allow_parameter_qos_overrides: diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst index 7e7f980467..09d02f998c 100644 --- a/configuration/packages/configuring-costmaps.rst +++ b/configuration/packages/configuring-costmaps.rst @@ -24,7 +24,7 @@ Costmap2D ROS Parameters Description Whether to send full costmap every update, rather than updates. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -33,7 +33,7 @@ Costmap2D ROS Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :allow_parameter_qos_overrides: @@ -457,7 +457,7 @@ Example inflate_unknown: false inflate_around_unknown: true always_send_full_costmap: True - service_introspection_mode: "disabled" + introspection_mode: "disabled" local_costmap: @@ -472,4 +472,4 @@ Example width: 3 height: 3 resolution: 0.05 - service_introspection_mode: "disabled" + introspection_mode: "disabled" diff --git a/configuration/packages/configuring-docking-server.rst b/configuration/packages/configuring-docking-server.rst index 57c5538d67..80126243a8 100644 --- a/configuration/packages/configuring-docking-server.rst +++ b/configuration/packages/configuring-docking-server.rst @@ -206,7 +206,7 @@ Parameters Description BT XML to use for Navigator, if non-default. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -215,7 +215,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :allow_parameter_qos_overrides: @@ -654,7 +654,7 @@ Example odom_topic: "odom" dock_backwards: false # Deprecated, use dock_direction in plugin dock_prestaging_tolerance: 0.5 - service_introspection_mode: "disabled" + introspection_mode: "disabled" # Types of docks dock_plugins: ['nova_carter_dock'] diff --git a/configuration/packages/configuring-lifecycle.rst b/configuration/packages/configuring-lifecycle.rst index cd75fd648a..23535a604d 100644 --- a/configuration/packages/configuring-lifecycle.rst +++ b/configuration/packages/configuring-lifecycle.rst @@ -70,7 +70,7 @@ Parameters Description When a server crashes or becomes non-responsive, the lifecycle manager will bring down all nodes for safety. This is the duration of which the lifecycle manager will attempt to reconnect with the failed server(s) during to recover and re-activate the system. If this passes, it will stop attempts and will require a manual re-activation once the problem is manually resolved. Units: seconds. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -79,7 +79,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :allow_parameter_qos_overrides: @@ -103,4 +103,4 @@ Example bond_timeout: 4.0 attempt_respawn_reconnection: true bond_respawn_max_duration: 10.0 - service_introspection_mode: "disabled" + introspection_mode: "disabled" diff --git a/configuration/packages/configuring-map-server.rst b/configuration/packages/configuring-map-server.rst index 882c364247..86fdf26348 100644 --- a/configuration/packages/configuring-map-server.rst +++ b/configuration/packages/configuring-map-server.rst @@ -46,7 +46,7 @@ Map Saver Parameters Description Occupied space minimum probability threshold value for occupancy grid. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -55,7 +55,7 @@ Map Saver Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". Map Server Parameters ********************* @@ -93,7 +93,7 @@ Map Server Parameters Description Frame to publish loaded map in. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -102,7 +102,7 @@ Map Server Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". Costmap Filter Info Server Parameters ************************************* @@ -200,14 +200,14 @@ Example yaml_filename: "turtlebot3_world.yaml" topic_name: "map" frame_id: "map" - service_introspection_mode: "disabled" + introspection_mode: "disabled" map_saver: ros__parameters: save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 - service_introspection_mode: "disabled" + introspection_mode: "disabled" costmap_filter_info_server: ros__parameters: diff --git a/configuration/packages/configuring-planner-server.rst b/configuration/packages/configuring-planner-server.rst index 7216d1e6f6..f0f99c7341 100644 --- a/configuration/packages/configuring-planner-server.rst +++ b/configuration/packages/configuring-planner-server.rst @@ -72,7 +72,7 @@ Parameters Description The timeout value (seconds) for the costmap to be fully updated before a planning request. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -81,7 +81,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :allow_parameter_qos_overrides: @@ -113,7 +113,7 @@ Example ros__parameters: expected_planner_frequency: 20.0 costmap_update_timeout: 1.0 - service_introspection_mode: "disabled" + introspection_mode: "disabled" planner_plugins: ['GridBased'] GridBased: plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::" diff --git a/configuration/packages/configuring-route-server.rst b/configuration/packages/configuring-route-server.rst index 525c61ee6d..845ddacbe0 100644 --- a/configuration/packages/configuring-route-server.rst +++ b/configuration/packages/configuring-route-server.rst @@ -301,7 +301,7 @@ Server Parameters Description The plugin to load under that name. The ``edge_cost_functions.`` namespaces is also where plugin-specific parameters are defined. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -310,7 +310,7 @@ Server Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :allow_parameter_qos_overrides: diff --git a/configuration/packages/configuring-smoother-server.rst b/configuration/packages/configuring-smoother-server.rst index 6334c8dd65..027dad61f8 100644 --- a/configuration/packages/configuring-smoother-server.rst +++ b/configuration/packages/configuring-smoother-server.rst @@ -68,7 +68,7 @@ Smoother Server Parameters Description List of plugin names to use, also matches action server names. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -77,7 +77,7 @@ Smoother Server Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". Note Each plugin namespace defined in this list needs to have a :code:`plugin` parameter defining the type of plugin to be loaded in the namespace. diff --git a/configuration/packages/configuring-waypoint-follower.rst b/configuration/packages/configuring-waypoint-follower.rst index 2adba23d74..378e2176d8 100644 --- a/configuration/packages/configuring-waypoint-follower.rst +++ b/configuration/packages/configuring-waypoint-follower.rst @@ -49,7 +49,7 @@ Parameters The name of the global coordinate frame published by robot_localization. Only used by the gps_waypoint_follower to convert GPS waypoints to this frame. -:service_introspection_mode: +:introspection_mode: ============== ============================= Type Default @@ -58,7 +58,7 @@ Parameters ============== ============================= Description - The introspection mode for services. Options are "disabled", "metadata", "contents". + The introspection mode for services and actions. Options are "disabled", "metadata", "contents". :bond_heartbeat_period: @@ -139,7 +139,7 @@ Example loop_rate: 20 stop_on_failure: false waypoint_task_executor_plugin: "wait_at_waypoint" - service_introspection_mode: "disabled" + introspection_mode: "disabled" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True diff --git a/migration/Kilted.rst b/migration/Kilted.rst index f0f40938e4..70b6529d04 100644 --- a/migration/Kilted.rst +++ b/migration/Kilted.rst @@ -74,6 +74,7 @@ To: If migrating from the ``rclcpp::Client`` factory, check out the ``nav2::ServiceClient`` API for its features like ``invoke()`` which wraps the async call and spinning for results using the given node or another internal executor. You may optionally directly migrate by changing calls from ``async_send_request`` to ``async_call`` and otherwise handle the future in your application code. +It now supports service introspection using the parameter ``introspection_mode``. Service Server Migration ^^^^^^^^^^^^^^^^^^^^^^^^ @@ -110,7 +111,7 @@ To std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); // type nav2::ServiceServer No additional changes should be required since the operations are handled in the same way as before. -It now supports service introspection using the parameter ``service_introspection_mode``. +It now supports service introspection using the parameter ``introspection_mode``. Action Server Migration ^^^^^^^^^^^^^^^^^^^^^^^ @@ -136,7 +137,7 @@ To nullptr, std::chrono::milliseconds(500), true); // Type nav2::SimpleActionServer No additional changes should be required since the operations are handled in the same way as before. -It now supports action request, feedback, and result introspection using the parameter ``service_introspection_mode``. +It now supports action request, feedback, and result introspection using the parameter ``introspection_mode``. Action Client Migration ^^^^^^^^^^^^^^^^^^^^^^^ @@ -161,7 +162,7 @@ To "navigate_to_pose", callback_group_); // Type nav2::ActionClient No additional changes should be required since the operations are handled in the same way as before. -It now supports action request, feedback, and result introspection using the parameter ``service_introspection_mode``. +It now supports action request, feedback, and result introspection using the parameter ``introspection_mode``. Publisher Subscriber Migration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^