Renaming, cleanup, and reintroduced TF buffer

nav2_bringup/launch/nav2_navigation_launch.py

@@ -114,7 +114,7 @@ def generate_launch_description():
             output='screen',
             parameters=[{'use_sim_time': use_sim_time},
                         {'autostart': autostart},
-                        {'node_names': ['nav2_controller',
+                        {'node_names': ['controller_server',
                                         'navfn_planner',
                                         'bt_navigator']}]),
 

nav2_bringup/params/nav2_params.yaml

@@ -51,7 +51,7 @@ bt_navigator:
     use_sim_time: True
     bt_xml_filename: "bt_navigator.xml"
 
-nav2_controller:
+controller_server:
   ros__parameters:
     use_sim_time: True
     debug_trajectory_details: True

nav2_controller/CMakeLists.txt

@@ -19,7 +19,7 @@ include_directories(
   include
 )
 
-set(executable_name nav2_controller)
+set(executable_name controller_server)
 
 add_executable(${executable_name}
   src/main.cpp

nav2_controller/src/nav2_controller.cpp

@@ -28,10 +28,10 @@ namespace nav2_controller
 {
 
 Nav2Controller::Nav2Controller()
-: LifecycleNode("nav2_controller", "", true),
+: LifecycleNode("controller_server", "", true),
   lp_loader_("nav2_core", "nav2_core::LocalPlanner")
 {
-  RCLCPP_INFO(get_logger(), "Creating local planner");
+  RCLCPP_INFO(get_logger(), "Creating controller");
 
   declare_parameter("controller_frequency", 20.0);
   declare_parameter("local_controller_plugin", "dwb_core::DWBLocalPlanner");
@@ -64,7 +64,7 @@ Nav2Controller::on_configure(const rclcpp_lifecycle::State & state)
 {
   std::string local_planner_name;
 
-  RCLCPP_INFO(get_logger(), "Configuring local planner interface");
+  RCLCPP_INFO(get_logger(), "Configuring local controller interface");
 
   costmap_ros_->on_configure(state);
 
@@ -76,8 +76,8 @@ Nav2Controller::on_configure(const rclcpp_lifecycle::State & state)
     std::string local_controller_plugin;
     get_parameter("local_controller_plugin", local_controller_plugin);
     local_planner_ = lp_loader_.createUniqueInstance(local_controller_plugin);
-    RCLCPP_INFO(get_logger(), "Created local_planner");
-    local_planner_->configure(node, costmap_ros_);
+    RCLCPP_INFO(get_logger(), "Created local controller");
+    local_planner_->configure(node, costmap_ros_->getTfBuffer(), costmap_ros_);
   } catch (const pluginlib::PluginlibException & ex) {
     RCLCPP_FATAL(get_logger(), "Failed to create local planner. Exception: %s", ex.what());
   }

nav2_core/include/nav2_core/exceptions.hpp

 /*
- * Software License Agreement (BSD License)
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2017, Locus Robotics

nav2_core/include/nav2_core/local_planner.hpp

@@ -73,6 +73,7 @@ public:
    */
   virtual void configure(
     const rclcpp_lifecycle::LifecycleNode::SharedPtr &,
+    const std::shared_ptr<tf2_ros::Buffer> &,
     const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> &) = 0;
 
   /**

nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp

@@ -68,6 +68,7 @@ public:
 
   void configure(
     const rclcpp_lifecycle::LifecycleNode::SharedPtr & node,
+    const std::shared_ptr<tf2_ros::Buffer> & tf,
     const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
 
   virtual ~DWBLocalPlanner() {}

nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp

@@ -66,11 +66,12 @@ DWBLocalPlanner::DWBLocalPlanner()
 
 void DWBLocalPlanner::configure(
   const rclcpp_lifecycle::LifecycleNode::SharedPtr & node,
+  const std::shared_ptr<tf2_ros::Buffer> & tf,
   const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros)
 {
   node_ = node;
   costmap_ros_ = costmap_ros;
-  tf_ = costmap_ros_->getTfBuffer();
+  tf_ = tf;
   declare_parameter_if_not_declared(node_, "critics");
   declare_parameter_if_not_declared(node_, "prune_plan", rclcpp::ParameterValue(true));
   declare_parameter_if_not_declared(node_, "prune_distance", rclcpp::ParameterValue(1.0));

nav2_system_tests/src/system/test_system_launch.py

@@ -77,7 +77,7 @@ def generate_launch_description():
 
         launch_ros.actions.Node(
             package='nav2_controller',
-            node_executable='nav2_controller',
+            node_executable='controller_server',
             output='screen',
             parameters=[params_file]),
 
@@ -109,7 +109,7 @@ def generate_launch_description():
             output='screen',
             parameters=[{'use_sim_time': use_sim_time},
                         {'node_names': ['map_server', 'amcl',
-                         'nav2_controller', 'planner_server', 'bt_navigator']},
+                         'controller_server', 'planner_server', 'bt_navigator']},
                         {'autostart': True}]),
     ])
 

nav2_system_tests/src/updown/test_updown_launch.py

@@ -83,7 +83,7 @@ def generate_launch_description():
         cmd=[
             os.path.join(
                 get_package_prefix('nav2_controller'),
-                'lib/nav2_controller/nav2_controller'),
+                'lib/nav2_controller/controller_server'),
             '--ros-args', ['__params:=', params_file]],
         cwd=[launch_dir], output='screen')