Refactor plugins to use double colons for consistency (ros-navigation…

…#4220) * Refactor the plugin names for bt_navigator to use double colons Signed-off-by: Alan Xue <[email protected]> * Refactor the plugin names for planner_server to use double colons Signed-off-by: Alan Xue <[email protected]> * Refactor the plugin names for behavior_server to use double colons Signed-off-by: Alan Xue <[email protected]> --------- Signed-off-by: Alan Xue <[email protected]>
Alisabunina · Apr 2, 2024 · b0e6d3d · b0e6d3d
1 parent 2ecc91e
commit b0e6d3d
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Showing 24 changed files with 120 additions and 122 deletions.
diff --git a/nav2_behaviors/behavior_plugin.xml b/nav2_behaviors/behavior_plugin.xml
@@ -1,30 +1,30 @@
 <class_libraries>
 	<library path="nav2_spin_behavior">
-	  <class name="nav2_behaviors/Spin" type="nav2_behaviors::Spin" base_class_type="nav2_core::Behavior">
+	  <class type="nav2_behaviors::Spin" base_class_type="nav2_core::Behavior">
 	    <description></description>
 	  </class>
 	</library>
 
 	<library path="nav2_back_up_behavior">
-	  <class name="nav2_behaviors/BackUp" type="nav2_behaviors::BackUp" base_class_type="nav2_core::Behavior">
+	  <class type="nav2_behaviors::BackUp" base_class_type="nav2_core::Behavior">
 	    <description></description>
 	  </class>
 	</library>
 
 	<library path="nav2_drive_on_heading_behavior">
-	  <class name="nav2_behaviors/DriveOnHeading" type="nav2_behaviors::DriveOnHeading&lt;&gt;" base_class_type="nav2_core::Behavior">
+	  <class name="nav2_behaviors::DriveOnHeading" type="nav2_behaviors::DriveOnHeading&lt;&gt;" base_class_type="nav2_core::Behavior">
 	    <description></description>
 	  </class>
 	</library>
 
 	<library path="nav2_wait_behavior">
-	  <class name="nav2_behaviors/Wait" type="nav2_behaviors::Wait" base_class_type="nav2_core::Behavior">
+	  <class type="nav2_behaviors::Wait" base_class_type="nav2_core::Behavior">
 	    <description></description>
 	  </class>
 	</library>
 
 	<library path="nav2_assisted_teleop_behavior">
-	  <class name="nav2_behaviors/AssistedTeleop" type="nav2_behaviors::AssistedTeleop" base_class_type="nav2_core::Behavior">
+	  <class type="nav2_behaviors::AssistedTeleop" base_class_type="nav2_core::Behavior">
 	    <description></description>
 	  </class>
 	</library>

diff --git a/nav2_behaviors/src/behavior_server.cpp b/nav2_behaviors/src/behavior_server.cpp
@@ -26,10 +26,10 @@ BehaviorServer::BehaviorServer(const rclcpp::NodeOptions & options)
 : LifecycleNode("behavior_server", "", options),
   plugin_loader_("nav2_core", "nav2_core::Behavior"),
   default_ids_{"spin", "backup", "drive_on_heading", "wait"},
-  default_types_{"nav2_behaviors/Spin",
-    "nav2_behaviors/BackUp",
-    "nav2_behaviors/DriveOnHeading",
-    "nav2_behaviors/Wait"}
+  default_types_{"nav2_behaviors::Spin",
+    "nav2_behaviors::BackUp",
+    "nav2_behaviors::DriveOnHeading",
+    "nav2_behaviors::Wait"}
 {
   declare_parameter(
     "local_costmap_topic",

diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -49,9 +49,9 @@ bt_navigator:
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
     navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -201,7 +201,7 @@ planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -213,13 +213,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -49,9 +49,9 @@ bt_navigator:
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
     navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -200,7 +200,7 @@ planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -212,13 +212,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1

diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -49,9 +49,9 @@ bt_navigator:
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
     navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -234,7 +234,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -257,15 +257,15 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     assisted_teleop:
-      plugin: "nav2_behaviors/AssistedTeleop"
+      plugin: "nav2_behaviors::AssistedTeleop"
     local_frame: odom
     global_frame: map
     robot_base_frame: base_link

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -49,9 +49,9 @@ bt_navigator:
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
+      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
     navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
+      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
@@ -273,7 +273,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -296,15 +296,15 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     assisted_teleop:
-      plugin: "nav2_behaviors/AssistedTeleop"
+      plugin: "nav2_behaviors::AssistedTeleop"
     local_frame: odom
     global_frame: map
     robot_base_frame: base_link

diff --git a/nav2_bt_navigator/navigator_plugins.xml b/nav2_bt_navigator/navigator_plugins.xml
@@ -1,15 +1,13 @@
 <class_libraries>
 	<library path="nav2_navigate_to_pose_navigator">
 	  <class
-	  	name="nav2_bt_navigator/NavigateToPoseNavigator"
 	  	type="nav2_bt_navigator::NavigateToPoseNavigator"
 	  	base_class_type="nav2_core::NavigatorBase">
 	    <description>Navigate to Pose Navigator</description>
 	  </class>
 	</library>
   <library path="nav2_navigate_through_poses">
 	  <class
-	  	name="nav2_bt_navigator/NavigateThroughPosesNavigator"
 	  	type="nav2_bt_navigator::NavigateThroughPosesNavigator"
 	  	base_class_type="nav2_core::NavigatorBase">
 	    <description>Navigate through Poses Navigator</description>

diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -98,8 +98,8 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
     "navigate_through_poses"
   };
   const std::vector<std::string> default_navigator_types = {
-    "nav2_bt_navigator/NavigateToPoseNavigator",
-    "nav2_bt_navigator/NavigateThroughPosesNavigator"
+    "nav2_bt_navigator::NavigateToPoseNavigator",
+    "nav2_bt_navigator::NavigateThroughPosesNavigator"
   };
 
   std::vector<std::string> navigator_ids;

diff --git a/nav2_navfn_planner/global_planner_plugin.xml b/nav2_navfn_planner/global_planner_plugin.xml
@@ -1,5 +1,5 @@
 <library path="nav2_navfn_planner">
-	<class name="nav2_navfn_planner/NavfnPlanner" type="nav2_navfn_planner::NavfnPlanner" base_class_type="nav2_core::GlobalPlanner">
+	<class type="nav2_navfn_planner::NavfnPlanner" base_class_type="nav2_core::GlobalPlanner">
 	  <description></description>
 	</class>
 </library>
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -44,7 +44,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
 : nav2_util::LifecycleNode("planner_server", "", options),
   gp_loader_("nav2_core", "nav2_core::GlobalPlanner"),
   default_ids_{"GridBased"},
-  default_types_{"nav2_navfn_planner/NavfnPlanner"},
+  default_types_{"nav2_navfn_planner::NavfnPlanner"},
   costmap_(nullptr)
 {
   RCLCPP_INFO(get_logger(), "Creating");

diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md
@@ -102,7 +102,7 @@ planner_server:
     planner_plugins: ["GridBased"]
 
     GridBased:
-      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      plugin: "nav2_smac_planner::SmacPlannerHybrid"
       tolerance: 0.5                      # tolerance for planning if unable to reach exact pose, in meters
       downsample_costmap: false           # whether or not to downsample the map
       downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)

diff --git a/nav2_smac_planner/smac_plugin_2d.xml b/nav2_smac_planner/smac_plugin_2d.xml
@@ -1,5 +1,5 @@
 <library path="nav2_smac_planner_2d">
-  <class name="nav2_smac_planner/SmacPlanner2D" type="nav2_smac_planner::SmacPlanner2D" base_class_type="nav2_core::GlobalPlanner">
+  <class type="nav2_smac_planner::SmacPlanner2D" base_class_type="nav2_core::GlobalPlanner">
     <description>2D A* SMAC Planner</description>
   </class>
 </library>
diff --git a/nav2_smac_planner/smac_plugin_hybrid.xml b/nav2_smac_planner/smac_plugin_hybrid.xml
@@ -1,5 +1,5 @@
 <library path="nav2_smac_planner">
-	<class name="nav2_smac_planner/SmacPlannerHybrid" type="nav2_smac_planner::SmacPlannerHybrid" base_class_type="nav2_core::GlobalPlanner">
+	<class type="nav2_smac_planner::SmacPlannerHybrid" base_class_type="nav2_core::GlobalPlanner">
 	  <description>Hybrid-A* SMAC planner</description>
 	</class>
 </library>
diff --git a/nav2_smac_planner/smac_plugin_lattice.xml b/nav2_smac_planner/smac_plugin_lattice.xml
@@ -1,5 +1,5 @@
 <library path="nav2_smac_planner_lattice">
-	<class name="nav2_smac_planner/SmacPlannerLattice" type="nav2_smac_planner::SmacPlannerLattice" base_class_type="nav2_core::GlobalPlanner">
+	<class type="nav2_smac_planner::SmacPlannerLattice" base_class_type="nav2_core::GlobalPlanner">
 	  <description>State Lattice SMAC planner</description>
 	</class>
 </library>
diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -216,7 +216,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: False
       allow_unknown: True
@@ -228,13 +228,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1

diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
@@ -206,7 +206,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: False
       allow_unknown: True
@@ -218,13 +218,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1

diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
@@ -206,7 +206,7 @@ planner_server:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: False
       allow_unknown: True
@@ -218,13 +218,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1