set controller name to something nicer

Rak-r · Jun 25, 2022 · 095aa61 · 095aa61
1 parent 3d9c6ca
commit 095aa61
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/ubr1_navigation/behavior_trees/default.xml b/ubr1_navigation/behavior_trees/default.xml
@@ -22,7 +22,7 @@
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath"/>
+          <FollowPath path="{path}" controller_id="GracefulController"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>

diff --git a/ubr1_navigation/config/nav2_params.yaml b/ubr1_navigation/config/nav2_params.yaml
@@ -79,7 +79,7 @@ controller_server:
     min_theta_velocity_threshold: 0.001
     progress_checker_plugin: "progress_checker"
     goal_checker_plugins: ["general_goal_checker"]
-    controller_plugins: ["FollowPath"]
+    controller_plugins: ["GracefulController"]
 
     # Progress checker parameters
     progress_checker:
@@ -93,7 +93,7 @@ controller_server:
       yaw_goal_tolerance: 0.25
       stateful: True
     # Controller parameters
-    FollowPath:
+    GracefulController:
       plugin: "graceful_controller/GracefulControllerROS"
       min_vel_x: 0.1
       max_vel_x: 1.0

diff --git a/ubr1_navigation/scripts/tilt_head.py b/ubr1_navigation/scripts/tilt_head.py
@@ -81,7 +81,7 @@ def __init__(self):
         self.client.wait_for_server()
         self.get_logger().info("...OK")
 
-        self.plan_sub = self.create_subscription(Path, 'FollowPath/local_plan', self.plan_callback, 10)
+        self.plan_sub = self.create_subscription(Path, 'GracefulController/local_plan', self.plan_callback, 10)
 
     def plan_callback(self, msg):
         # get the goal