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alanxuefeialanxuefei
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Refactor plugins to use double colons for consistency (#4220)
* Refactor the plugin names for bt_navigator to use double colons Signed-off-by: Alan Xue <[email protected]> * Refactor the plugin names for planner_server to use double colons Signed-off-by: Alan Xue <[email protected]> * Refactor the plugin names for behavior_server to use double colons Signed-off-by: Alan Xue <[email protected]> --------- Signed-off-by: Alan Xue <[email protected]>
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-122
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24 files changed

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-122
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‎nav2_behaviors/behavior_plugin.xml‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,30 +1,30 @@
11
<class_libraries>
22
<library path="nav2_spin_behavior">
3-
<class name="nav2_behaviors/Spin" type="nav2_behaviors::Spin" base_class_type="nav2_core::Behavior">
3+
<class type="nav2_behaviors::Spin" base_class_type="nav2_core::Behavior">
44
<description></description>
55
</class>
66
</library>
77

88
<library path="nav2_back_up_behavior">
9-
<class name="nav2_behaviors/BackUp" type="nav2_behaviors::BackUp" base_class_type="nav2_core::Behavior">
9+
<class type="nav2_behaviors::BackUp" base_class_type="nav2_core::Behavior">
1010
<description></description>
1111
</class>
1212
</library>
1313

1414
<library path="nav2_drive_on_heading_behavior">
15-
<class name="nav2_behaviors/DriveOnHeading" type="nav2_behaviors::DriveOnHeading&lt;&gt;" base_class_type="nav2_core::Behavior">
15+
<class name="nav2_behaviors::DriveOnHeading" type="nav2_behaviors::DriveOnHeading&lt;&gt;" base_class_type="nav2_core::Behavior">
1616
<description></description>
1717
</class>
1818
</library>
1919

2020
<library path="nav2_wait_behavior">
21-
<class name="nav2_behaviors/Wait" type="nav2_behaviors::Wait" base_class_type="nav2_core::Behavior">
21+
<class type="nav2_behaviors::Wait" base_class_type="nav2_core::Behavior">
2222
<description></description>
2323
</class>
2424
</library>
2525

2626
<library path="nav2_assisted_teleop_behavior">
27-
<class name="nav2_behaviors/AssistedTeleop" type="nav2_behaviors::AssistedTeleop" base_class_type="nav2_core::Behavior">
27+
<class type="nav2_behaviors::AssistedTeleop" base_class_type="nav2_core::Behavior">
2828
<description></description>
2929
</class>
3030
</library>

‎nav2_behaviors/src/behavior_server.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -26,10 +26,10 @@ BehaviorServer::BehaviorServer(const rclcpp::NodeOptions & options)
2626
: LifecycleNode("behavior_server", "", options),
2727
plugin_loader_("nav2_core", "nav2_core::Behavior"),
2828
default_ids_{"spin", "backup", "drive_on_heading", "wait"},
29-
default_types_{"nav2_behaviors/Spin",
30-
"nav2_behaviors/BackUp",
31-
"nav2_behaviors/DriveOnHeading",
32-
"nav2_behaviors/Wait"}
29+
default_types_{"nav2_behaviors::Spin",
30+
"nav2_behaviors::BackUp",
31+
"nav2_behaviors::DriveOnHeading",
32+
"nav2_behaviors::Wait"}
3333
{
3434
declare_parameter(
3535
"local_costmap_topic",

‎nav2_bringup/params/nav2_multirobot_params_1.yaml‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -49,9 +49,9 @@ bt_navigator:
4949
action_server_result_timeout: 900.0
5050
navigators: ["navigate_to_pose", "navigate_through_poses"]
5151
navigate_to_pose:
52-
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
52+
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
5353
navigate_through_poses:
54-
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
54+
plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
5555
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
5656
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
5757
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -201,7 +201,7 @@ planner_server:
201201
ros__parameters:
202202
planner_plugins: ["GridBased"]
203203
GridBased:
204-
plugin: "nav2_navfn_planner/NavfnPlanner"
204+
plugin: "nav2_navfn_planner::NavfnPlanner"
205205
tolerance: 0.5
206206
use_astar: false
207207
allow_unknown: true
@@ -213,13 +213,13 @@ behavior_server:
213213
cycle_frequency: 10.0
214214
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
215215
spin:
216-
plugin: "nav2_behaviors/Spin"
216+
plugin: "nav2_behaviors::Spin"
217217
backup:
218-
plugin: "nav2_behaviors/BackUp"
218+
plugin: "nav2_behaviors::BackUp"
219219
drive_on_heading:
220-
plugin: "nav2_behaviors/DriveOnHeading"
220+
plugin: "nav2_behaviors::DriveOnHeading"
221221
wait:
222-
plugin: "nav2_behaviors/Wait"
222+
plugin: "nav2_behaviors::Wait"
223223
global_frame: odom
224224
robot_base_frame: base_link
225225
transform_tolerance: 0.1

‎nav2_bringup/params/nav2_multirobot_params_2.yaml‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -49,9 +49,9 @@ bt_navigator:
4949
action_server_result_timeout: 900.0
5050
navigators: ["navigate_to_pose", "navigate_through_poses"]
5151
navigate_to_pose:
52-
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
52+
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
5353
navigate_through_poses:
54-
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
54+
plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
5555
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
5656
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
5757
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -200,7 +200,7 @@ planner_server:
200200
ros__parameters:
201201
planner_plugins: ["GridBased"]
202202
GridBased:
203-
plugin: "nav2_navfn_planner/NavfnPlanner"
203+
plugin: "nav2_navfn_planner::NavfnPlanner"
204204
tolerance: 0.5
205205
use_astar: false
206206
allow_unknown: true
@@ -212,13 +212,13 @@ behavior_server:
212212
cycle_frequency: 10.0
213213
behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
214214
spin:
215-
plugin: "nav2_behaviors/Spin"
215+
plugin: "nav2_behaviors::Spin"
216216
backup:
217-
plugin: "nav2_behaviors/BackUp"
217+
plugin: "nav2_behaviors::BackUp"
218218
drive_on_heading:
219-
plugin: "nav2_behaviors/DriveOnHeading"
219+
plugin: "nav2_behaviors::DriveOnHeading"
220220
wait:
221-
plugin: "nav2_behaviors/Wait"
221+
plugin: "nav2_behaviors::Wait"
222222
global_frame: odom
223223
robot_base_frame: base_link
224224
transform_tolerance: 0.1

‎nav2_bringup/params/nav2_multirobot_params_all.yaml‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -49,9 +49,9 @@ bt_navigator:
4949
action_server_result_timeout: 900.0
5050
navigators: ["navigate_to_pose", "navigate_through_poses"]
5151
navigate_to_pose:
52-
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
52+
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
5353
navigate_through_poses:
54-
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
54+
plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
5555
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
5656
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
5757
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -234,7 +234,7 @@ planner_server:
234234
expected_planner_frequency: 20.0
235235
planner_plugins: ["GridBased"]
236236
GridBased:
237-
plugin: "nav2_navfn_planner/NavfnPlanner"
237+
plugin: "nav2_navfn_planner::NavfnPlanner"
238238
tolerance: 0.5
239239
use_astar: false
240240
allow_unknown: true
@@ -257,15 +257,15 @@ behavior_server:
257257
cycle_frequency: 10.0
258258
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
259259
spin:
260-
plugin: "nav2_behaviors/Spin"
260+
plugin: "nav2_behaviors::Spin"
261261
backup:
262-
plugin: "nav2_behaviors/BackUp"
262+
plugin: "nav2_behaviors::BackUp"
263263
drive_on_heading:
264-
plugin: "nav2_behaviors/DriveOnHeading"
264+
plugin: "nav2_behaviors::DriveOnHeading"
265265
wait:
266-
plugin: "nav2_behaviors/Wait"
266+
plugin: "nav2_behaviors::Wait"
267267
assisted_teleop:
268-
plugin: "nav2_behaviors/AssistedTeleop"
268+
plugin: "nav2_behaviors::AssistedTeleop"
269269
local_frame: odom
270270
global_frame: map
271271
robot_base_frame: base_link

‎nav2_bringup/params/nav2_params.yaml‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -49,9 +49,9 @@ bt_navigator:
4949
action_server_result_timeout: 900.0
5050
navigators: ["navigate_to_pose", "navigate_through_poses"]
5151
navigate_to_pose:
52-
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
52+
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
5353
navigate_through_poses:
54-
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
54+
plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
5555
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
5656
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
5757
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -273,7 +273,7 @@ planner_server:
273273
expected_planner_frequency: 20.0
274274
planner_plugins: ["GridBased"]
275275
GridBased:
276-
plugin: "nav2_navfn_planner/NavfnPlanner"
276+
plugin: "nav2_navfn_planner::NavfnPlanner"
277277
tolerance: 0.5
278278
use_astar: false
279279
allow_unknown: true
@@ -296,15 +296,15 @@ behavior_server:
296296
cycle_frequency: 10.0
297297
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
298298
spin:
299-
plugin: "nav2_behaviors/Spin"
299+
plugin: "nav2_behaviors::Spin"
300300
backup:
301-
plugin: "nav2_behaviors/BackUp"
301+
plugin: "nav2_behaviors::BackUp"
302302
drive_on_heading:
303-
plugin: "nav2_behaviors/DriveOnHeading"
303+
plugin: "nav2_behaviors::DriveOnHeading"
304304
wait:
305-
plugin: "nav2_behaviors/Wait"
305+
plugin: "nav2_behaviors::Wait"
306306
assisted_teleop:
307-
plugin: "nav2_behaviors/AssistedTeleop"
307+
plugin: "nav2_behaviors::AssistedTeleop"
308308
local_frame: odom
309309
global_frame: map
310310
robot_base_frame: base_link

‎nav2_bt_navigator/navigator_plugins.xml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,15 +1,13 @@
11
<class_libraries>
22
<library path="nav2_navigate_to_pose_navigator">
33
<class
4-
name="nav2_bt_navigator/NavigateToPoseNavigator"
54
type="nav2_bt_navigator::NavigateToPoseNavigator"
65
base_class_type="nav2_core::NavigatorBase">
76
<description>Navigate to Pose Navigator</description>
87
</class>
98
</library>
109
<library path="nav2_navigate_through_poses">
1110
<class
12-
name="nav2_bt_navigator/NavigateThroughPosesNavigator"
1311
type="nav2_bt_navigator::NavigateThroughPosesNavigator"
1412
base_class_type="nav2_core::NavigatorBase">
1513
<description>Navigate through Poses Navigator</description>

‎nav2_bt_navigator/src/bt_navigator.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -98,8 +98,8 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
9898
"navigate_through_poses"
9999
};
100100
const std::vector<std::string> default_navigator_types = {
101-
"nav2_bt_navigator/NavigateToPoseNavigator",
102-
"nav2_bt_navigator/NavigateThroughPosesNavigator"
101+
"nav2_bt_navigator::NavigateToPoseNavigator",
102+
"nav2_bt_navigator::NavigateThroughPosesNavigator"
103103
};
104104

105105
std::vector<std::string> navigator_ids;

‎nav2_navfn_planner/global_planner_plugin.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
<library path="nav2_navfn_planner">
2-
<class name="nav2_navfn_planner/NavfnPlanner" type="nav2_navfn_planner::NavfnPlanner" base_class_type="nav2_core::GlobalPlanner">
2+
<class type="nav2_navfn_planner::NavfnPlanner" base_class_type="nav2_core::GlobalPlanner">
33
<description></description>
44
</class>
55
</library>

‎nav2_planner/src/planner_server.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -44,7 +44,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
4444
: nav2_util::LifecycleNode("planner_server", "", options),
4545
gp_loader_("nav2_core", "nav2_core::GlobalPlanner"),
4646
default_ids_{"GridBased"},
47-
default_types_{"nav2_navfn_planner/NavfnPlanner"},
47+
default_types_{"nav2_navfn_planner::NavfnPlanner"},
4848
costmap_(nullptr)
4949
{
5050
RCLCPP_INFO(get_logger(), "Creating");

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