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Use of RewrittenYaml in launch of nav2 stack and providing controller plugin params from a separate yaml file

asked 2020-11-24 23:43:08 -0600

Divyanshu gravatar image

I am creating a controller plugin for the nav2 stack. I have added the params of my controller plugin by replacing those of the DWB controller in the nav2_params.yaml file as per the tutorials. My plugin is working as expected. I want to now separate the params of my controller plugin from the rest of the nav2 params by providing them from a separate yaml file. When I traced the way in which the nav2 stack is launched from the nav2_bringup package, I noticed that RewrittenYaml is used in both the localization_launch.py and navigation_launch.py files.

I have two questions.
1) How can I provide the params of my controller plugin from a separate yaml file and the remaining params from another yaml file?

2) What is the use of RewrittenYaml and why is it used in the launch system?

I am using Ubuntu 20.04 with ROS2 Foxy

Thanks for the help in advance

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answered 2020-12-18 13:06:39 -0600

Michael Jeronimo gravatar image

Regarding the second question... Carl Delsey (from the Intel team; now at Amazon) originally wrote the parameter rewrite code. If I recall correctly, we needed to perform a global replacement on selective parameters, such as use_sim_time, and ended up having to write our own function to do that.

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Asked: 2020-11-24 23:27:03 -0600

Seen: 390 times

Last updated: Nov 24 '20