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Adding logging for matched events and dropped messages into pub/sub of new nav2_ros_common package. Also adding QoS overrides default ON #5302

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Merged
merged 4 commits into from
Jun 25, 2025
Merged

Adding logging for matched events and dropped messages into pub/sub of new nav2_ros_common package. Also adding QoS overrides default ON #5302

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b0b5075
Adding logging for matched events and dropped messages
SteveMacenski Jun 24, 2025
20c0be7
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SteveMacenski Jun 24, 2025
f3e7362
apply for smac 2D
SteveMacenski Jun 24, 2025
4a64a74
Update interface_factories.hpp
SteveMacenski Jun 24, 2025
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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@SteveMacenski
SteveMacenski committed Jun 24, 2025
commit 20c0be74c93e420bf9c5e3e8d052393fb2734faa
2 changes: 2 additions & 0 deletions nav2_behavior_tree/CMakeLists.txt
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Expand Up @@ -44,6 +44,7 @@ target_link_libraries(${library_name} PUBLIC
${sensor_msgs_TARGETS}
tf2::tf2
tf2_ros::tf2_ros
nav2_ros_common::nav2_ros_common
)

add_library(nav2_compute_path_to_pose_action_bt_node SHARED plugins/action/compute_path_to_pose_action.cpp)
Expand Down Expand Up @@ -264,6 +265,7 @@ foreach(bt_plugin ${plugin_libs})
tf2_ros::tf2_ros
${std_msgs_TARGETS}
${std_srvs_TARGETS}
nav2_ros_common::nav2_ros_common
)
target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
endforeach()
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2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
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Expand Up @@ -20,7 +20,7 @@
#include <chrono>

#include "behaviortree_cpp/action_node.h"
#include "nav2_ros_common/node_utils.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

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4 changes: 2 additions & 2 deletions nav2_ros_common/include/nav2_ros_common/interface_factories.hpp
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Expand Up @@ -200,7 +200,7 @@ typename nav2::Subscription<MessageT>::SharedPtr create_subscription(
const rclcpp::CallbackGroup::SharedPtr & callback_group = nullptr)
{
bool allow_parameter_qos_overrides = nav2::declare_or_get_parameter(
node, "allow_parameter_qos_overrides", false);
node, "allow_parameter_qos_overrides", true);

auto params_interface = node->get_node_parameters_interface();
auto topics_interface = node->get_node_topics_interface();
Expand Down Expand Up @@ -229,7 +229,7 @@ typename nav2::Publisher<MessageT>::SharedPtr create_publisher(
const rclcpp::CallbackGroup::SharedPtr & callback_group = nullptr)
{
bool allow_parameter_qos_overrides = nav2::declare_or_get_parameter(
node, "allow_parameter_qos_overrides", false);
node, "allow_parameter_qos_overrides", true);
using PublisherT = nav2::Publisher<MessageT>;
auto pub = rclcpp::create_publisher<MessageT, std::allocator<void>, PublisherT>(
*node,
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12 changes: 5 additions & 7 deletions nav2_smac_planner/src/smac_planner_hybrid.cpp
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Expand Up @@ -281,12 +281,10 @@ void SmacPlannerHybrid::configure(
}

// Initialize costmap downsampler
if (_downsample_costmap && _downsampling_factor > 1) {
_costmap_downsampler = std::make_unique<CostmapDownsampler>();
std::string topic_name = "downsampled_costmap";
_costmap_downsampler->on_configure(
node, _global_frame, topic_name, _costmap, _downsampling_factor);
}
_costmap_downsampler = std::make_unique<CostmapDownsampler>();
std::string topic_name = "downsampled_costmap";
_costmap_downsampler->on_configure(
node, _global_frame, topic_name, _costmap, _downsampling_factor);

_raw_plan_publisher = node->create_publisher<nav_msgs::msg::Path>("unsmoothed_plan");

Expand Down Expand Up @@ -391,7 +389,7 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan(

// Downsample costmap, if required
nav2_costmap_2d::Costmap2D * costmap = _costmap;
if (_costmap_downsampler) {
if (_downsample_costmap && _downsampling_factor > 1) {
costmap = _costmap_downsampler->downsample(_downsampling_factor);
_collision_checker.setCostmap(costmap);
}
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