Draft: Added GoalUpdatedController BT plugin node (ros-navigation#3044)

* first draft for goal updated controller Signed-off-by: relffok <57466265+relffok@users.noreply.github.com> * added goal_updated_controller to all yamls * added GoalUpdatedController API * added GoaUpdatedController to default plugins * removed first_time param * added test for GoalUpdatedController * linter fix
savalena · Jun 28, 2022 · 6948a54 · 6948a54
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commit 6948a54
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diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -82,6 +82,7 @@ bt_navigator:
     - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
     - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
     - nav2_is_battery_low_condition_bt_node
     - nav2_navigate_through_poses_action_bt_node
     - nav2_navigate_to_pose_action_bt_node

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -82,6 +82,7 @@ bt_navigator:
     - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
     - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
     - nav2_is_battery_low_condition_bt_node
     - nav2_navigate_through_poses_action_bt_node
     - nav2_navigate_to_pose_action_bt_node

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -82,6 +82,7 @@ bt_navigator:
     - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
     - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
     - nav2_is_battery_low_condition_bt_node
     - nav2_navigate_through_poses_action_bt_node
     - nav2_navigate_to_pose_action_bt_node