diff --git a/nav2_bringup/bringup/launch/nav2_localization_launch.py b/nav2_bringup/bringup/launch/nav2_localization_launch.py index 597f9fddd1f11b3e1fc4015d963548b853eced80..bbf5e78b3306c49e5bff1a97426d8ac3a47b7008 100644 --- a/nav2_bringup/bringup/launch/nav2_localization_launch.py +++ b/nav2_bringup/bringup/launch/nav2_localization_launch.py @@ -64,7 +64,7 @@ def generate_launch_description(): SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), DeclareLaunchArgument( - 'namespace', default_value='navigation', + 'namespace', default_value='', description='Top-level namespace'), DeclareLaunchArgument( diff --git a/nav2_bringup/bringup/launch/nav2_navigation_launch.py b/nav2_bringup/bringup/launch/nav2_navigation_launch.py index b7939a7fb780cb1497cefd677e9a4092fd2b358d..7f82d6619cfd84d3c9205f0beaec8a286a1a452a 100644 --- a/nav2_bringup/bringup/launch/nav2_navigation_launch.py +++ b/nav2_bringup/bringup/launch/nav2_navigation_launch.py @@ -71,7 +71,7 @@ def generate_launch_description(): SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'), DeclareLaunchArgument( - 'namespace', default_value='navigation', + 'namespace', default_value='', description='Top-level namespace'), DeclareLaunchArgument( diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml index 7d1bca3db9d3992145a8deb17d17adc5af5267ef..6445a187632a76badbfe60f0443f0f890288fa25 100644 --- a/nav2_bringup/bringup/params/nav2_params.yaml +++ b/nav2_bringup/bringup/params/nav2_params.yaml @@ -49,7 +49,6 @@ amcl_rclcpp_node: bt_navigator: ros__parameters: use_sim_time: True - hi: true bt_xml_filename: "navigate_w_replanning_and_recovery.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp index 49912224b29b48b0be14da86b6df30abca185121..24d8ea515b35c4b23d7689e4a5142f2994df8d96 100644 --- a/nav2_bt_navigator/src/bt_navigator.cpp +++ b/nav2_bt_navigator/src/bt_navigator.cpp @@ -78,8 +78,6 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/) // Get the libraries to pull plugins from plugin_lib_names_ = get_parameter("plugin_lib_names").as_string_array(); - bool hi = declare_parameter("hi").get<bool>(); - std::cout << hi << std::endl; // Create the class that registers our custom nodes and executes the BT bt_ = std::make_unique<nav2_behavior_tree::BehaviorTreeEngine>(plugin_lib_names_);