WIP: Make BT nodes have configurable wait times. (ros-navigation#3960)

embeddedadam · christophfroehlich · commit 52f0ea59c887 · 2024-06-08T14:11:54.000Z
* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com>
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -61,6 +61,8 @@ class BtActionNode : public BT::ActionNodeBase
     server_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    wait_for_service_timeout_ =
+      config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
     // Initialize the input and output messages
     goal_ = typename ActionT::Goal();
@@ -93,7 +95,7 @@ class BtActionNode : public BT::ActionNodeBase
 
     // Make sure the server is actually there before continuing
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
-    if (!action_client_->wait_for_action_server(1s)) {
+    if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
         node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
         action_name.c_str());
@@ -459,6 +461,9 @@ class BtActionNode : public BT::ActionNodeBase
   // The timeout value for BT loop execution
   std::chrono::milliseconds bt_loop_duration_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // To track the action server acknowledgement when a new goal is sent
   std::shared_ptr<std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr>>
   future_goal_handle_;
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
@@ -232,6 +232,9 @@ class BtActionServer
   // Default timeout value while waiting for response from a server
   std::chrono::milliseconds default_server_timeout_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // User-provided callbacks
   OnGoalReceivedCallback on_goal_received_callback_;
   OnLoopCallback on_loop_callback_;
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -107,11 +107,15 @@ bool BtActionServer<ActionT>::on_configure()
     action_name_, std::bind(&BtActionServer<ActionT>::executeCallback, this));
 
   // Get parameters for BT timeouts
-  int timeout;
-  node->get_parameter("bt_loop_duration", timeout);
-  bt_loop_duration_ = std::chrono::milliseconds(timeout);
-  node->get_parameter("default_server_timeout", timeout);
-  default_server_timeout_ = std::chrono::milliseconds(timeout);
+  int bt_loop_duration;
+  node->get_parameter("bt_loop_duration", bt_loop_duration);
+  bt_loop_duration_ = std::chrono::milliseconds(bt_loop_duration);
+  int default_server_timeout;
+  node->get_parameter("default_server_timeout", default_server_timeout);
+  default_server_timeout_ = std::chrono::milliseconds(default_server_timeout);
+  int wait_for_service_timeout;
+  node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
+  wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
 
   // Create the class that registers our custom nodes and executes the BT
   bt_ = std::make_unique<nav2_behavior_tree::BehaviorTreeEngine>(plugin_lib_names_);
@@ -123,6 +127,9 @@ bool BtActionServer<ActionT>::on_configure()
   blackboard_->set<rclcpp::Node::SharedPtr>("node", client_node_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);  // NOLINT
+  blackboard_->set<std::chrono::milliseconds>(
+    "wait_for_service_timeout",
+    wait_for_service_timeout_);
 
   return true;
 }
@@ -190,6 +197,9 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
       blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
       blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
       blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
+      blackboard->set<std::chrono::milliseconds>(
+        "wait_for_service_timeout",
+        wait_for_service_timeout_);
     }
   } catch (const std::exception & e) {
     RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
@@ -59,6 +59,8 @@ class BtCancelActionNode : public BT::ActionNodeBase
     server_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    wait_for_service_timeout_ =
+      config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
     std::string remapped_action_name;
     if (getInput("server_name", remapped_action_name)) {
@@ -89,7 +91,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
 
     // Make sure the server is actually there before continuing
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
-    if (!action_client_->wait_for_action_server(1s)) {
+    if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
         node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
         action_name.c_str());
@@ -168,6 +170,8 @@ class BtCancelActionNode : public BT::ActionNodeBase
   // The timeout value while waiting for response from a server when a
   // new action goal is canceled
   std::chrono::milliseconds server_timeout_;
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -62,6 +62,8 @@ class BtServiceNode : public BT::ActionNodeBase
     server_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    wait_for_service_timeout_ =
+      config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
     // Now that we have node_ to use, create the service client for this BT service
     getInput("service_name", service_name_);
@@ -77,7 +79,7 @@ class BtServiceNode : public BT::ActionNodeBase
     RCLCPP_DEBUG(
       node_->get_logger(), "Waiting for \"%s\" service",
       service_name_.c_str());
-    if (!service_client_->wait_for_service(1s)) {
+    if (!service_client_->wait_for_service(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
         node_->get_logger(), "\"%s\" service server not available after waiting for 1 s",
         service_node_name.c_str());
@@ -249,6 +251,9 @@ class BtServiceNode : public BT::ActionNodeBase
   // The timeout value for BT loop execution
   std::chrono::milliseconds bt_loop_duration_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // To track the server response when a new request is sent
   std::shared_future<typename ServiceT::Response::SharedPtr> future_result_;
   bool request_sent_{false};
diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp
@@ -68,6 +68,9 @@ class AssistedTeleopActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp
@@ -65,6 +65,9 @@ class CancelAssistedTeleopActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::AssistedTeleop>(
       node_, "assisted_teleop");
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
@@ -68,6 +68,9 @@ class BackUpActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelBackUpActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::BackUp>(
       node_, "back_up");
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
@@ -173,6 +173,7 @@ class BTActionNodeTestFixture : public ::testing::Test
     config_->blackboard->set<rclcpp::Node::SharedPtr>("node", node_);
     config_->blackboard->set<std::chrono::milliseconds>("server_timeout", 20ms);
     config_->blackboard->set<std::chrono::milliseconds>("bt_loop_duration", 10ms);
+    config_->blackboard->set<std::chrono::milliseconds>("wait_for_service_timeout", 1000ms);
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<bool>("on_cancelled_triggered", false);
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp b/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp
@@ -53,6 +53,9 @@ class ClearEntireCostmapServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
@@ -139,6 +142,9 @@ class ClearCostmapExceptRegionServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
@@ -231,6 +237,9 @@ class ClearCostmapAroundRobotServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
@@ -76,6 +76,9 @@ class ComputePathThroughPosesActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =
diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
@@ -74,6 +74,9 @@ class ComputePathToPoseActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =
diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelControllerActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::FollowPath>(
       node_, "follow_path");
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp
@@ -69,6 +69,9 @@ class DriveOnHeadingActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =
diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp
@@ -65,6 +65,9 @@ class CancelDriveOnHeadingTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::DriveOnHeading>(
       node_, "drive_on_heading_cancel");
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
@@ -67,6 +67,9 @@ class FollowPathActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =
diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
@@ -70,6 +70,9 @@ class NavigateThroughPosesActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     std::vector<geometry_msgs::msg::PoseStamped> poses;
     config_->blackboard->set<std::vector<geometry_msgs::msg::PoseStamped>>(
diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
@@ -68,6 +68,9 @@ class NavigateToPoseActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =
diff --git a/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp b/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp
@@ -53,6 +53,9 @@ class ReinitializeGlobalLocalizationServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     factory_->registerNodeType<nav2_behavior_tree::ReinitializeGlobalLocalizationService>(
diff --git a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp
@@ -67,6 +67,9 @@ class SmoothPathActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =
diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
@@ -68,6 +68,9 @@ class SpinActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelSpinActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::Spin>(
       node_, "spin");
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
@@ -59,6 +59,9 @@ class WaitActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelWaitActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::Wait>(
       node_, "wait");
 
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -47,6 +47,13 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    wait_for_service_timeout: 1000
+    action_server_result_timeout: 900.0
+    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
@@ -160,7 +167,16 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics:
+        [
+          "RotateToGoal",
+          "Oscillation",
+          "BaseObstacle",
+          "GoalAlign",
+          "PathAlign",
+          "PathDist",
+          "GoalDist",
+        ]
       BaseObstacle.scale: 0.02
       PathAlign.scale: 0.0
       GoalAlign.scale: 0.0
diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
diff --git a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
