Unable to change Nav2 BT tree

asked 2022-07-19 12:28:05 -0500

marpeja
63 ●19 ●26 ●32

Hi!

I want to change the BT Nav2 is using, but it seems it doesn't change when I change it in the yaml file. I am using Ros2 Foxy, so here it is my bt_navigator configuration, where I define the xml file with default_bt_xml_filename:

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: "odom/unfiltered"
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "navigate_w_replannning_and_round_robin_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_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_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_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_distance_traveled_condition_bt_node

As you see, I am using the navigate_w_replannning_and_round_robin_recovery.xml from the predefined behavior trees. However, when I launch Groot in Control mode, this is the BT I get, which in fact is the navigate_w_replanning_and_recovery.xml:

image description

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# '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.

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Thanks Steve! I forgot to change it in the launch file. However I needed to set the new BT path in both the launch file (full path of the file) and the yaml file (only the name of the xml file)

marpeja ( 2022-07-20 05:24:51 -0500 )edit

You shouldn't need to do anything in the launc hfile if the yaml file contains the full path. If the yaml is only a file name, then yes, in your launch file you'd have to tell it where its located.

stevemacenski ( 2022-07-20 16:25:48 -0500 )edit

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