Pass node options to costmap node#5202
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SteveMacenski merged 2 commits intoros-navigation:mainfrom May 30, 2025
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SteveMacenski
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May 28, 2025
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@MarcoMatteoBassa please fix the failing CI jobs (DCO and linting it looks like). Also, did you test this using a namespace? You can do so with |
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I fixed the linting but I can't do DCO for you. You can ignore the precommit failure, that's on a github workflow file that I already fixed as part of the Kilted release process |
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Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>
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Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>
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Thanks! It would look like the namespace is correctly passed to the child nodes if added, yes Ex: I passed the options to the global costmap from the planner server too for completeness. |
tonynajjar
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* Passing parent node options from controller_server to costmap node Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Passing parent node options to global costmap Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>
roncapat
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Closes ros-navigation#5242 Inspired by: ros-navigation#5202 - `bt_navigator_***_rclcpp_node` now gets the same namespace of `bt_navigator` - `bt_navigator_***_rclcpp_node` now gets the same node options of `bt_navigator` (apart from node name, that is still forced to respect the pattern `bt_navigator_***_rclcpp_node` ) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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SteveMacenski
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…#5310) * `bt_navigator_***_rclcpp_node` - Namespacing + NodeOptions forwarding Closes #5242 Inspired by: #5202 - `bt_navigator_***_rclcpp_node` now gets the same namespace of `bt_navigator` - `bt_navigator_***_rclcpp_node` now gets the same node options of `bt_navigator` (apart from node name, that is still forced to respect the pattern `bt_navigator_***_rclcpp_node` ) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> * Deduplicate `replaceOrAddArgument` implementation Moved to `nav2_ros_common/node_utils.hpp`, namespace `nav2` Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
SakshayMahna
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…ros-navigation#5310) * `bt_navigator_***_rclcpp_node` - Namespacing + NodeOptions forwarding Closes ros-navigation#5242 Inspired by: ros-navigation#5202 - `bt_navigator_***_rclcpp_node` now gets the same namespace of `bt_navigator` - `bt_navigator_***_rclcpp_node` now gets the same node options of `bt_navigator` (apart from node name, that is still forced to respect the pattern `bt_navigator_***_rclcpp_node` ) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> * Deduplicate `replaceOrAddArgument` implementation Moved to `nav2_ros_common/node_utils.hpp`, namespace `nav2` Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
tonynajjar
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* Passing parent node options from controller_server to costmap node Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Passing parent node options to global costmap Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>
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Basic Info
Description of contribution in a few bullet points
Currently it is impossible to remap the publishers and subscribers of the costmap objects, because the node options of the controller server are not passed to the child node.
The change allows the child costmap node to inherit the node options of the parent, while still using customized options for the name, namespace and use_sim_time.
Description of how this change was tested
Future work that may be required in bullet points
The free functions might be moved to utils and used where other child nodes are created if the use-case arises.
For Maintainers: