Bug fix: set the BT Navigator "default_nav_to_pose_bt_xml" and "defau…

…lt_nav_through_pose_bt_xml" from the yaml file (#2664) * removing the has_parameter() and replacing with the get_parameter() * fixing navigate_through_poses as well
ros-navigation · Dec 16, 2021 · ce7fc22 · ce7fc22
1 parent a1eac8a
commit ce7fc22
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Showing 2 changed files with 12 additions and 14 deletions.
diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
@@ -47,13 +47,12 @@ NavigateThroughPosesNavigator::getDefaultBTFilepath(
 {
   std::string default_bt_xml_filename;
   auto node = parent_node.lock();
-  if (!node->has_parameter("default_nav_through_poses_bt_xml")) {
-    std::string pkg_share_dir =
-      ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
-    std::string tree_file = pkg_share_dir +
-      "/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml";
-    node->declare_parameter("default_nav_through_poses_bt_xml", tree_file);
-  }
+  std::string pkg_share_dir =
+    ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
+  node->declare_parameter<std::string>(
+    "default_nav_through_poses_bt_xml",
+    pkg_share_dir +
+    "/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");
   node->get_parameter("default_nav_through_poses_bt_xml", default_bt_xml_filename);
 
   return default_bt_xml_filename;

diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -53,13 +53,12 @@ NavigateToPoseNavigator::getDefaultBTFilepath(
 {
   std::string default_bt_xml_filename;
   auto node = parent_node.lock();
-  if (!node->has_parameter("default_nav_to_pose_bt_xml")) {
-    std::string pkg_share_dir =
-      ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
-    std::string tree_file = pkg_share_dir +
-      "/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml";
-    node->declare_parameter("default_nav_to_pose_bt_xml", tree_file);
-  }
+  std::string pkg_share_dir =
+    ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
+  node->declare_parameter<std::string>(
+    "default_nav_to_pose_bt_xml",
+    pkg_share_dir +
+    "/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");
   node->get_parameter("default_nav_to_pose_bt_xml", default_bt_xml_filename);
 
   return default_bt_xml_filename;