From 9c061867064c1ff45167d5456d9297d8985905a9 Mon Sep 17 00:00:00 2001
From: "Carlos A. Orduno" <39749557+orduno@users.noreply.github.com>
Date: Wed, 25 Sep 2019 14:12:10 -0700
Subject: [PATCH] Fix planner server time bug (#1165)
---
nav2_bringup/params/nav2_params.yaml | 12 ++++++++++--
1 file changed, 10 insertions(+), 2 deletions(-)
diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index 2cd493a5..d8acf8ae 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -51,6 +51,10 @@ bt_navigator:
use_sim_time: True
bt_xml_filename: "bt_navigator.xml"
+bt_navigator_rclcpp_node:
+ ros__parameters:
+ use_sim_time: True
+
controller_server:
ros__parameters:
use_sim_time: True
@@ -89,6 +93,10 @@ controller_server:
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
+controller_server_rclcpp_node:
+ ros__parameters:
+ use_sim_time: True
+
local_costmap:
local_costmap:
ros__parameters:
@@ -148,13 +156,13 @@ map_server:
use_sim_time: True
yaml_filename: "turtlebot3_world.yaml"
-navfn_planner:
+planner_server:
ros__parameters:
use_sim_time: True
tolerance: 0.0
use_astar: false
-navfn_planner_GetCostmap_client:
+planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
--
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