diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index cfbcdc858bf..b9d67e1861b 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -30,7 +30,7 @@ amcl: sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 1.0 - service_introspection_mode: "disabled" + introspection_mode: "disabled" update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 @@ -48,7 +48,7 @@ bt_navigator: filter_duration: 0.3 default_server_timeout: 20 wait_for_service_timeout: 1000 - service_introspection_mode: "disabled" + introspection_mode: "disabled" navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: plugin: "nav2_bt_navigator::NavigateToPoseNavigator" @@ -265,7 +265,7 @@ local_costmap: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True always_send_full_costmap: True - service_introspection_mode: "disabled" + introspection_mode: "disabled" global_costmap: global_costmap: @@ -318,7 +318,7 @@ global_costmap: cost_scaling_factor: 3.0 inflation_radius: 0.7 always_send_full_costmap: True - service_introspection_mode: "disabled" + introspection_mode: "disabled" # 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 launch file(s). @@ -326,7 +326,7 @@ global_costmap: map_server: ros__parameters: # yaml_filename: "" - service_introspection_mode: "disabled" + introspection_mode: "disabled" keepout_filter_mask_server: ros__parameters: @@ -360,14 +360,14 @@ map_saver: free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: True - service_introspection_mode: "disabled" + introspection_mode: "disabled" planner_server: ros__parameters: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] costmap_update_timeout: 1.0 - service_introspection_mode: "disabled" + introspection_mode: "disabled" GridBased: plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 @@ -432,7 +432,7 @@ waypoint_follower: ros__parameters: loop_rate: 20 stop_on_failure: false - service_introspection_mode: "disabled" + introspection_mode: "disabled" waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" @@ -519,7 +519,7 @@ docking_server: base_frame: "base_link" fixed_frame: "odom" dock_prestaging_tolerance: 0.5 - service_introspection_mode: "disabled" + introspection_mode: "disabled" # Types of docks dock_plugins: ["simple_charging_dock"] diff --git a/nav2_ros_common/include/nav2_ros_common/node_utils.hpp b/nav2_ros_common/include/nav2_ros_common/node_utils.hpp index 6cf10f79d69..5b0288370ec 100644 --- a/nav2_ros_common/include/nav2_ros_common/node_utils.hpp +++ b/nav2_ros_common/include/nav2_ros_common/node_utils.hpp @@ -358,15 +358,15 @@ inline void setIntrospectionMode( { #if RCLCPP_VERSION_GTE(29, 0, 0) rcl_service_introspection_state_t introspection_state = RCL_SERVICE_INTROSPECTION_OFF; - if (!node_parameters_interface->has_parameter("service_introspection_mode")) { + if (!node_parameters_interface->has_parameter("introspection_mode")) { node_parameters_interface->declare_parameter( - "service_introspection_mode", rclcpp::ParameterValue("disabled")); + "introspection_mode", rclcpp::ParameterValue("disabled")); } - std::string service_introspection_mode = - node_parameters_interface->get_parameter("service_introspection_mode").as_string(); - if (service_introspection_mode == "metadata") { + std::string introspection_mode = + node_parameters_interface->get_parameter("introspection_mode").as_string(); + if (introspection_mode == "metadata") { introspection_state = RCL_SERVICE_INTROSPECTION_METADATA; - } else if (service_introspection_mode == "contents") { + } else if (introspection_mode == "contents") { introspection_state = RCL_SERVICE_INTROSPECTION_CONTENTS; } diff --git a/nav2_ros_common/test/test_service_client.cpp b/nav2_ros_common/test/test_service_client.cpp index cc6e779964c..99d6576292d 100644 --- a/nav2_ros_common/test/test_service_client.cpp +++ b/nav2_ros_common/test/test_service_client.cpp @@ -51,7 +51,7 @@ TEST(ServiceClient, can_ServiceClient_use_passed_in_node) }; for(const auto & mode : introspection_modes) { auto node = rclcpp::Node::make_shared("test_node" + mode); - node->declare_parameter("service_introspection_mode", mode); + node->declare_parameter("introspection_mode", mode); TestServiceClient t("bar", node, true); ASSERT_EQ(t.name(), "test_node" + mode); } diff --git a/nav2_ros_common/test/test_service_server.cpp b/nav2_ros_common/test/test_service_server.cpp index 336d1c459a4..7365e34afe7 100644 --- a/nav2_ros_common/test/test_service_server.cpp +++ b/nav2_ros_common/test/test_service_server.cpp @@ -52,7 +52,7 @@ TEST(ServiceServer, can_handle_all_introspection_modes) int a = 0; auto node = rclcpp::Node::make_shared("test_node_" + mode); - node->declare_parameter("service_introspection_mode", mode); + node->declare_parameter("introspection_mode", mode); auto callback = [&a](const std::shared_ptr, const std::shared_ptr, diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp index 16761dbec4f..9083dd61313 100644 --- a/nav2_smac_planner/src/smac_planner_2d.cpp +++ b/nav2_smac_planner/src/smac_planner_2d.cpp @@ -96,7 +96,7 @@ void SmacPlanner2D::configure( // Note that we need to declare it here to prevent the parameter from being declared in the // dynamic reconfigure callback nav2::declare_parameter_if_not_declared( - node, "service_introspection_mode", rclcpp::ParameterValue("disabled")); + node, "introspection_mode", rclcpp::ParameterValue("disabled")); _motion_model = MotionModel::TWOD; diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp index 8ae545cc169..ad1ae0647c9 100644 --- a/nav2_smac_planner/src/smac_planner_hybrid.cpp +++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp @@ -169,7 +169,7 @@ void SmacPlannerHybrid::configure( // Note that we need to declare it here to prevent the parameter from being declared in the // dynamic reconfigure callback nav2::declare_parameter_if_not_declared( - node, "service_introspection_mode", rclcpp::ParameterValue("disabled")); + node, "introspection_mode", rclcpp::ParameterValue("disabled")); std::string goal_heading_type; nav2::declare_parameter_if_not_declared(