Add ProgressCheckerSelector and GoalCheckerSelector to navigate_throu…

…gh_poses_w_replanning_and_recovery.xml (ros-navigation#4341) To facilitate error_msg system tests allow progress and goal checkers to be changed via the behaviour tree mechanism. Signed-off-by: Mike Wake <[email protected]>
aosmw · Feb 11, 2025 · 5b9d389 · 5b9d389
1 parent 4812af2
commit 5b9d389
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -7,6 +7,8 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ProgressCheckerSelector selected_progress_checker="{selected_progress_checker}" default_progress_checker="progress_checker" topic_name="progress_checker_selector"/>
+        <GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="general_goal_checker" topic_name="goal_checker_selector"/>
         <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="0.333">
@@ -22,7 +24,7 @@
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}" goal_checker_id="{selected_goal_checker}" progress_checker_id="{selected_progress_checker}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>