clear up params file (ros-navigation#3004)

Signed-off-by: zhenpeng ge <[email protected]>
savalena · Jun 6, 2022 · 5c2e569 · 5c2e569
1 parent 476bc24
commit 5c2e569
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Showing 3 changed files with 15 additions and 87 deletions.
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/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

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/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

diff --git a/nav2_bringup/params/nav2_params.yaml b/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