Rename service_introspection_mode to introspection_mode

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:
@@ -318,15 +318,15 @@ 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).
 # 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: ""
-    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"]

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;
   }
 

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);
   }

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<rmw_request_id_t>,
       const std::shared_ptr<std_srvs::srv::Empty::Request>,

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;
 

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(