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docs: add description of changes to migration guide
Signed-off-by: AJedancov <andrei.jedancov@gmail.com>
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‎migration/Kilted.rst‎

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@@ -5,6 +5,142 @@ Kilted to L-turtle
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Moving from ROS 2 Kilted to L-Turtle, a number of stability improvements were added that we will not specifically address here.
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Changed parameter naming style
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------------------------------
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`PR #5793 <https://github.com/ros-navigation/navigation2/pull/5793>`_
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updates the naming style for a group of parameters from ``PascalCase`` to ``snake_case``.
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The changes concern the names of parameters (IDs) that are associated with plugins and other components,
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which are described in the tables below.
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Parameter files
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^^^^^^^^^^^^^^^
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To make it easier to find names that need to be changed, the table below shows the server names,
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along with the corresponding parameters associated with updated names, including at least one example of such an updated name.
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+----------------------+---------------------------+----------------------------------------------------------+
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| Server name | Parameter where IDs | Example |
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| | are defined | |
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+======================+===========================+==========================================================+
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|**Plugin related** |
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+----------------------+---------------------------+----------------------------------------------------------+
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| controller_server | controller_plugins | `FollowPath` -> `follow_path` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| controller_server | path_handler_plugins | `PathHandler` -> `path_handler` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| planner_server | planner_plugins | `GridBased` -> `grid_based` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| smoother_server | smoother_plugins | `SimpleSmoother` -> `simple_smoother` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| route_server | operations | `AdjustSpeedLimit` -> `adjust_speed_limit` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| route_server | edge_cost_functions | `DistanceScorer` -> `distance_scorer` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| route_server | graph_file_loader | `GeoJsonGraphFileLoader` -> `geo_json_graph_file_loader` |
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+----------------------+---------------------------+----------------------------------------------------------+
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|**Non-plugin related** |
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+----------------------+---------------------------+----------------------------------------------------------+
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| collision_monitor | polygons | `FootprintApproach` -> `footprint_approach` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| collision_detector | polygons | `PolygonFront` -> `polygon_front` |
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+----------------------+---------------------------+----------------------------------------------------------+
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| vector_object_server | shapes | `Circle` -> `circle` |
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+----------------------+---------------------------+----------------------------------------------------------+
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Examples from updated YAML configuration files:
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.. code-block:: yaml
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controller_server:
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ros__parameters:
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controller_plugins: ["follow_path"]
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follow_path:
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plugin: "nav2_mppi_controller::MPPIController"
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.. code-block:: yaml
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collision_monitor:
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ros__parameters:
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polygons: ["footprint_approach"]
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footprint_approach:
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type: "polygon"
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An example of a complete configuration can be found in
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`nav2_params.yaml <https://github.com/ros-navigation/navigation2/blob/main/nav2_bringup/params/nav2_params.yaml>`_ file.
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BT configuration
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^^^^^^^^^^^^^^^^
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The behavior tree XML configuration files may require updating the following names related to input ports used in BT Action Nodes:
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+-------------------------+--------------------------+----------------------------------------+
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| BT Action Node ID | Input port | Example |
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+=========================+==========================+========================================+
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| FollowPath | controller_id | `FollowPath` -> `follow_path` |
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+-------------------------+--------------------------+----------------------------------------+
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| FollowPath | path_handler_id | `PathHandler` -> `path_handler` |
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+-------------------------+--------------------------+----------------------------------------+
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| FollowPath | goal_checker_id | `GoalChecker` -> `goal_checker` |
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+-------------------------+--------------------------+----------------------------------------+
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| FollowPath | progress_checker_id | `ProgressChecker` -> `progress_checker`|
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+-------------------------+--------------------------+----------------------------------------+
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| ComputePathToPose | planner_id | `GridBased` -> `grid_based` |
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+-------------------------+--------------------------+----------------------------------------+
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| ComputePathThroughPoses | planner_id | `GridBased` -> `grid_based` |
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+-------------------------+--------------------------+----------------------------------------+
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| SmoothPath | smoother_id | `RouteSmoother` -> `route_smoother` |
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+-------------------------+--------------------------+----------------------------------------+
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| ControllerSelector | default_controller | `FollowPath` -> `follow_path` |
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+-------------------------+--------------------------+----------------------------------------+
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| GoalCheckerSelector | default_goal_checker | `GoalChecker` -> `goal_checker` |
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+-------------------------+--------------------------+----------------------------------------+
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| ProgressCheckerSelector | default_progress_checker | `ProgressChecker` -> `progress_checker`|
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+-------------------------+--------------------------+----------------------------------------+
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| PlannerSelector | planner_id | `GridBased` -> `grid_based` |
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+-------------------------+--------------------------+----------------------------------------+
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| PathHandlerSelector | default_path_handler | `PathHandler` -> `path_handler` |
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+-------------------------+--------------------------+----------------------------------------+
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| SmootherSelector | default_smoother | `SimpleSmoother` -> `simple_smoother` |
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+-------------------------+--------------------------+----------------------------------------+
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An example for updated XML configuration file:
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.. code-block:: xml
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...
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<ControllerSelector selected_controller="{selected_controller}" default_controller="follow_path" topic_name="controller_selector"/>
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<PlannerSelector selected_planner="{selected_planner}" default_planner="grid_based" topic_name="planner_selector"/>
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...
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The full configuration can be found in
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`navigate_to_pose_w_replanning_and_recovery.xml
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<https://github.com/ros-navigation/navigation2/blob/main/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml>`_
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(default behavior tree).
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Additionally, some BT Action Nodes have new default values in the `nav2_tree_nodes.xml
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<https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/nav2_tree_nodes.xml>`_ file used for Groot:
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+------------+--------------------+
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| Action ID | Default input port |
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+============+====================+
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| SmoothPath | smooth_path |
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+------------+--------------------+
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| FollowPath | follow_path |
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+------------+--------------------+
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.. code-block:: xml
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<Action ID="SmoothPath">
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<input_port name="smoother_id" default="smooth_path"/>
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...
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</Action>
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<Action ID="FollowPath">
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<input_port name="controller_id" default="follow_path"/>
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...
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</Action>
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New Nav2 ROS Common & Nav2 Lifecycle Node
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-----------------------------------------
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