clear up params file

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -80,7 +80,7 @@ bool BtActionServer<ActionT>::on_configure()
   auto options = rclcpp::NodeOptions().arguments(
     {"--ros-args",
       "-r",
-      std::string("__node:=") + std::string(node->get_name()) + client_node_name + "_rclcpp_node",
+      std::string("__node:=") + std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node",
       "--"});
 
   // Support for handling the topic-based goal pose from rviz

nav2_bringup/params/nav2_multirobot_params_1.yaml

@@ -39,14 +39,6 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
@@ -104,7 +96,11 @@ bt_navigator:
     - nav2_back_up_cancel_bt_node
     - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -170,10 +166,6 @@ controller_server:
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
 
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -205,12 +197,6 @@ local_costmap:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
       observation_sources: scan
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -232,12 +218,6 @@ global_costmap:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
       observation_sources: scan
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
@@ -255,10 +235,6 @@ planner_server:
       use_astar: false
       allow_unknown: true
 
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 smoother_server:
   ros__parameters:
     use_sim_time: True

nav2_bringup/params/nav2_multirobot_params_2.yaml

@@ -39,14 +39,6 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
@@ -104,7 +96,11 @@ bt_navigator:
     - nav2_back_up_cancel_bt_node
     - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -170,10 +166,6 @@ controller_server:
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
 
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -205,12 +197,6 @@ local_costmap:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
       observation_sources: scan
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -232,12 +218,6 @@ global_costmap:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
       observation_sources: scan
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
@@ -255,10 +235,6 @@ planner_server:
       use_astar: false
       allow_unknown: true
 
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 smoother_server:
   ros__parameters:
     use_sim_time: True

nav2_bringup/params/nav2_params.yaml

@@ -39,14 +39,6 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
@@ -104,7 +96,11 @@ bt_navigator:
     - nav2_back_up_cancel_bt_node
     - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -179,10 +175,6 @@ controller_server:
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
 
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -224,12 +216,6 @@ local_costmap:
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -265,12 +251,6 @@ global_costmap:
         cost_scaling_factor: 3.0
         inflation_radius: 0.55
       always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
@@ -296,10 +276,6 @@ planner_server:
       use_astar: false
       allow_unknown: true
 
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 smoother_server:
   ros__parameters:
     use_sim_time: True

nav2_system_tests/src/costmap_filters/keepout_params.yaml

@@ -39,14 +39,6 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
@@ -97,7 +89,11 @@ bt_navigator:
     - nav2_back_up_cancel_bt_node
     - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -167,11 +163,6 @@ controller_server:
       RotateToGoal.lookahead_time: -1.0
       publish_cost_grid_pc: True
 
-
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -218,12 +209,6 @@ local_costmap:
         enabled: True
         filter_info_topic: "/costmap_filter_info"
       always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -260,12 +245,6 @@ global_costmap:
         enabled: True
         filter_info_topic: "/costmap_filter_info"
       always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
@@ -291,10 +270,6 @@ planner_server:
       use_astar: False
       allow_unknown: True
 
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 smoother_server:
   ros__parameters:
     use_sim_time: True

nav2_system_tests/src/costmap_filters/speed_global_params.yaml

@@ -39,14 +39,6 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
@@ -98,7 +90,11 @@ bt_navigator:
     - nav2_back_up_cancel_bt_node
     - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -168,10 +164,6 @@ controller_server:
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
 
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -209,12 +201,6 @@ local_costmap:
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -252,12 +238,6 @@ global_costmap:
         filter_info_topic: "/costmap_filter_info"
         speed_limit_topic: "/speed_limit"
       always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
@@ -283,10 +263,6 @@ planner_server:
       use_astar: False
       allow_unknown: True
 
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 smoother_server:
   ros__parameters:
     use_sim_time: True