make Blackboard variable ID private to the navigators (#5466)

Signed-off-by: Adi Vardi <[email protected]>

Author: adivardi

nav2_bt_navigator/src/navigators/navigate_through_poses.cpp

@@ -31,11 +31,11 @@ NavigateThroughPosesNavigator::configure(
   auto node = parent_node.lock();
 
   goals_blackboard_id_ =
-    node->declare_or_get_parameter("goals_blackboard_id", std::string("goals"));
+    node->declare_or_get_parameter(getName() + ".goals_blackboard_id", std::string("goals"));
   path_blackboard_id_ =
-    node->declare_or_get_parameter("path_blackboard_id", std::string("path"));
+    node->declare_or_get_parameter(getName() + ".path_blackboard_id", std::string("path"));
   waypoint_statuses_blackboard_id_ =
-    node->declare_or_get_parameter("waypoint_statuses_blackboard_id",
+    node->declare_or_get_parameter(getName() + ".waypoint_statuses_blackboard_id",
       std::string("waypoint_statuses"));
 
   // Odometry smoother object for getting current speed

nav2_bt_navigator/src/navigators/navigate_to_pose.cpp

@@ -29,10 +29,10 @@ NavigateToPoseNavigator::configure(
   start_time_ = rclcpp::Time(0);
   auto node = parent_node.lock();
 
-  goal_blackboard_id_ =
-    node->declare_or_get_parameter("goal_blackboard_id", std::string("goal"));
-  path_blackboard_id_ =
-    node->declare_or_get_parameter("path_blackboard_id", std::string("path"));
+  goal_blackboard_id_ = node->declare_or_get_parameter(getName() + ".goal_blackboard_id",
+      std::string("goal"));
+  path_blackboard_id_ = node->declare_or_get_parameter(getName() + ".path_blackboard_id",
+      std::string("path"));
 
   // Odometry smoother object for getting current speed
   odom_smoother_ = odom_smoother;