deleting python files

Author: peakyquest

nav2_gps_waypoint_follower_demo/CMakeLists.txt

@@ -15,6 +15,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+
 install(DIRECTORY worlds models launch urdf config
   DESTINATION share/${PROJECT_NAME}/
 )

nav2_gps_waypoint_follower_demo/config/behavior.xml

@@ -6,61 +6,29 @@
 
 bt_navigator:
   ros__parameters:
-    use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
-    default_nav_to_pose_bt_xml: "/home/haroon/ros2_ws/src/navigation2_tutorials/nav2_gps_waypoint_follower_demo/config/behavior.xml"
-    plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_smooth_path_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_drive_on_heading_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_globally_updated_goal_condition_bt_node
-    - nav2_is_path_valid_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_truncate_path_local_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_path_expiring_timer_condition
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_goal_updated_controller_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-    - nav2_controller_cancel_bt_node
-    - nav2_path_longer_on_approach_bt_node
-    - nav2_wait_cancel_bt_node
-    - nav2_spin_cancel_bt_node
-    - nav2_back_up_cancel_bt_node
-    - nav2_drive_on_heading_cancel_bt_node
-    error_code_names:
-      - compute_path_error_code
-      - follow_path_error_code
+    wait_for_service_timeout: 1000
+    navigators: ["navigate_to_pose", "navigate_through_poses"]
+    navigate_to_pose:
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
+    navigate_through_poses:
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+
+    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+    # Built-in plugins are added automatically
+    # plugin_lib_names: []
+
+    error_code_name_prefixes:
+      - compute_path
+      - follow_path
 
 controller_server:
   ros__parameters: