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Bug fix: set the BT Navigator "default_nav_to_pose_bt_xml" and "default_nav_through_pose_bt_xml" from the yaml file #2664

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Merged
SteveMacenski merged 2 commits into from
Nov 8, 2021
Merged

Bug fix: set the BT Navigator "default_nav_to_pose_bt_xml" and "default_nav_through_pose_bt_xml" from the yaml file #2664

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b945e28
removing the has_parameter() and replacing with the get_parameter()
padhupradheep Nov 5, 2021
07740c9
fixing navigate_through_poses as well
padhupradheep Nov 5, 2021
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13 changes: 6 additions & 7 deletions nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,13 +47,12 @@ NavigateThroughPosesNavigator::getDefaultBTFilepath(
{
std::string default_bt_xml_filename;
auto node = parent_node.lock();
if (!node->has_parameter("default_nav_through_poses_bt_xml")) {
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
std::string tree_file = pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml";
node->declare_parameter("default_nav_through_poses_bt_xml", tree_file);
}
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_through_poses_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");
node->get_parameter("default_nav_through_poses_bt_xml", default_bt_xml_filename);

return default_bt_xml_filename;
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13 changes: 6 additions & 7 deletions nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,13 +53,12 @@ NavigateToPoseNavigator::getDefaultBTFilepath(
{
std::string default_bt_xml_filename;
auto node = parent_node.lock();
if (!node->has_parameter("default_nav_to_pose_bt_xml")) {
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
std::string tree_file = pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml";
node->declare_parameter("default_nav_to_pose_bt_xml", tree_file);
}
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_to_pose_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");
node->get_parameter("default_nav_to_pose_bt_xml", default_bt_xml_filename);

return default_bt_xml_filename;
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