Normalize navigate_to_pose action names to be snake cased. (#1484)

* Normalize navigate_to_pose action names to be snake cased.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Missed changing the case in the test script itself

Co-authored-by: Carl Delsey <carl.r.delsey@intel.com>

nav2_bt_navigator/src/bt_navigator.cpp

@@ -75,7 +75,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
     get_node_clock_interface(),
     get_node_logging_interface(),
     get_node_waitables_interface(),
-    "NavigateToPose", std::bind(&BtNavigator::navigateToPose, this), false);
+    "navigate_to_pose", std::bind(&BtNavigator::navigateToPose, this), false);
 
   // Get the libraries to pull plugins from
   plugin_lib_names_ = get_parameter("plugin_lib_names").as_string_array();

nav2_lifecycle_manager/src/lifecycle_manager_client.cpp

@@ -38,7 +38,7 @@ LifecycleManagerClient::LifecycleManagerClient(const std::string & name)
   is_active_client_ = node_->create_client<std_srvs::srv::Trigger>(active_service_name_);
 
   navigate_action_client_ =
-    rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(node_, "NavigateToPose");
+    rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(node_, "navigate_to_pose");
 
   initial_pose_publisher_ =
     node_->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(

nav2_rviz_plugins/src/nav2_panel.cpp

@@ -76,7 +76,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
   initial_->assignProperty(navigation_mode_button_, "text", "Waypoint mode");
   initial_->assignProperty(navigation_mode_button_, "enabled", false);
 
-  // State entered when NavigateToPose is not active
+  // State entered when navigate_to_pose action is not active
   idle_ = new QState();
   idle_->setObjectName("idle");
   idle_->assignProperty(start_reset_button_, "text", "Reset");
@@ -91,7 +91,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
   idle_->assignProperty(navigation_mode_button_, "enabled", true);
   idle_->assignProperty(navigation_mode_button_, "toolTip", single_goal_msg);
 
-  // State entered when NavigateToPose is not active
+  // State entered when navigate_to_pose action is not active
   accumulating_ = new QState();
   accumulating_->setObjectName("accumulating");
   accumulating_->assignProperty(start_reset_button_, "text", "Reset");
@@ -108,7 +108,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
 
   accumulated_ = new QState();
 
-  // State entered to cancel the NavigateToPose action
+  // State entered to cancel the navigate_to_pose action
   canceled_ = new QState();
   canceled_->setObjectName("canceled");
 
@@ -116,7 +116,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
   reset_ = new QState();
   reset_->setObjectName("reset");
 
-  // State entered while the NavigateToPose action is active
+  // State entered while the navigate_to_pose action is active
   running_ = new QState();
   running_->setObjectName("running");
   running_->assignProperty(start_reset_button_, "text", "Cancel");
@@ -230,7 +230,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
   navigation_action_client_ =
     rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(
     client_node_,
-    "NavigateToPose");
+    "navigate_to_pose");
   waypoint_follower_action_client_ =
     rclcpp_action::create_client<nav2_msgs::action::FollowWaypoints>(
     client_node_,

nav2_system_tests/src/system/tester_node.py

@@ -59,7 +59,7 @@ class NavTester(Node):
         self.initial_pose_received = False
         self.initial_pose = initial_pose
         self.goal_pose = goal_pose
-        self.action_client = ActionClient(self, NavigateToPose, 'NavigateToPose')
+        self.action_client = ActionClient(self, NavigateToPose, 'navigate_to_pose')
 
     def info_msg(self, msg: str):
         self.get_logger().info('\033[1;37;44m' + msg + '\033[0m')

nav2_waypoint_follower/src/waypoint_follower.cpp

@@ -51,7 +51,7 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/)
     std::string(get_name()) + std::string("_client_node"));
 
   nav_to_pose_client_ = rclcpp_action::create_client<ClientT>(
-    client_node_, "NavigateToPose");
+    client_node_, "navigate_to_pose");
 
   action_server_ = std::make_unique<ActionServer>(
     get_node_base_interface(),
@@ -242,7 +242,7 @@ WaypointFollower::goalResponseCallback(
   if (!goal_handle) {
     RCLCPP_ERROR(
       get_logger(),
-      "NavigateToPose client failed to send goal to server.");
+      "navigate_to_pose action client failed to send goal to server.");
     current_goal_status_ = ActionStatus::FAILED;
   }
 }