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Move dwb goal/progress checker plugins to nav2_controller #1857

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Merged
merged 9 commits into from
Jul 20, 2020
Merged

Move dwb goal/progress checker plugins to nav2_controller #1857

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d7979ee
Move dwb goal/progress checker plugins to nav2_controller
siddhya Jun 8, 2020
2d466a8
Move goal/progress checker plugins to nav2_controller
siddhya Jul 8, 2020
73197ad
Move goal/progress checker plugins to nav2_controller
siddhya Jul 10, 2020
e271cd8
Update bringup.yaml for new plugins in nav2_controller
siddhya Jul 13, 2020
20ef7d5
Fix doc errors and update remaining yaml files
siddhya Jul 14, 2020
6558ec8
Remove mention of goal_checker from dwb docs
siddhya Jul 15, 2020
2dfc4b9
Add .plugin params to doc
siddhya Jul 15, 2020
9d93bae
Tests for progress_checker plugin
siddhya Jul 16, 2020
30740cf
Tweak plugin names/description in doc
siddhya Jul 20, 2020
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3 changes: 3 additions & 0 deletions doc/parameters/param_list.md
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Expand Up @@ -155,8 +155,11 @@ When `plugins` parameter is not overridden, the following default plugins are lo
| ----------| --------| ------------|
| controller_frequency | 20.0 | Frequency to run controller |
| progress_checker_plugin | "progress_checker" | Check the progress of the robot |
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@Marwan99 Marwan99 Jul 17, 2020

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Should we explain what is meant by progress?

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@SteveMacenski SteveMacenski Jul 17, 2020

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Can you provide a suggested text?

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@Marwan99 Marwan99 Jul 17, 2020

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Plugin used by the controller to check whether the robot has at least covered a set distance/displacement in a set amount of time, thus checking the progress of the robot. What do you think?

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@siddhya siddhya Jul 20, 2020

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Done.

| progress_checker.plugin | "nav2_controller::SimpleProgressChecker" | Default plugin |
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@Marwan99 Marwan99 Jul 17, 2020

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Along side mentioning that this is default plugin class for progress_checker, can we mention that "progress_checker" in progress_checker.plugin parameter name is coming from the progress_checker_plugin parameter? And that it should correspond to whatever plugin class name intended to be used.

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@siddhya siddhya Jul 17, 2020 •
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Ya I was wondering what the right convention is here. <progress checker_plugin>.plugin?

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@SteveMacenski SteveMacenski Jul 17, 2020

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Yeah that would work - I think you could also just check what was done for the planner / controller plugins that were already updated and just mirror it

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@siddhya siddhya Jul 20, 2020 •
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Done. No other .plugin param is mentioned in this file yet.

| goal_checker_plugin | "goal_checker" | Check if the goal has been reached |
| goal_checker.plugin | "nav2_controller::SimpleGoalChecker" | Default plugin |
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@Marwan99 Marwan99 Jul 17, 2020

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Same

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@siddhya siddhya Jul 20, 2020

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Done.

| controller_plugins | ["FollowPath"] | List of mapped names for controller plugins for processing requests and parameters |
| FollowPath.plugin | "dwb_core::DWBLocalPlanner" | Default plugin |
| min_x_velocity_threshold | 0.0001 | Minimum X velocity to use (m/s) |
| min_y_velocity_threshold | 0.0001 | Minimum Y velocity to use (m/s) |
| min_theta_velocity_threshold | 0.0001 | Minimum angular velocity to use (rad/s) |
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