dwb_core.xml

nav2_bringup/launch/nav2_bringup_launch.py

@@ -91,7 +91,7 @@ def generate_launch_description():
                     {'autostart': autostart},
                     {'node_names': ['map_server',
                                     'amcl',
-                                    'dwb_controller',
+                                    'controller_server',
                                     'planner_server',
                                     'bt_navigator']}])
 

nav2_system_tests/src/updown/nav2_params.yaml

@@ -92,7 +92,7 @@ nav2_controller:
     GoalDist.scale: 24.0
     RotateToGoal.scale: 32.0
 
-dwb_controller_rclcpp_node:
+nav2_controller_rclcpp_node:
   ros__parameters:
     use_sim_time: True