Inquiry on Plugin Naming Conventions in nav2_params.yaml #4194
Description
Bug report
The nav2_params.yaml file has two naming styles for plugins, specifically the usage of :: and /.
If the name is not declared in plugin.xml, the default name adopts the type, following the :: style.
Should we standardize them?
amcl:
ros__parameters:
robot_model_type: "nav2_amcl::DifferentialMotionModel"
bt_navigator:
ros__parameters:
navigate_to_pose:
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
navigate_through_poses:
plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
controller_server:
ros__parameters:
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
general_goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
local_costmap:
local_costmap:
ros__parameters:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
global_costmap:
global_costmap:
ros__parameters:
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
planner_server:
ros__parameters:
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
smoother_server:
ros__parameters:
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
behavior_server:
ros__parameters:
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
waypoint_follower:
ros__parameters:
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"