Add DistanceController decorator node (ros-navigation#1699)

naiveHobo · web-flow · commit de4feca62bd7 · 2020-05-14T11:20:12.000-07:00
* Add DistanceController decorator node

Signed-off-by: Sarthak Mittal &lt;sarthakmittal2608@gmail.com&gt;

* Update documentation and rename behavior tree XMLs

* Add tests for distance controller

* Fix test

* Update readme and add BT image

* Rename test files

* Remove protected setStatus calls
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -63,6 +63,7 @@ bt_navigator:
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
     - nav2_recovery_node_bt_node
     - nav2_pipeline_sequence_bt_node
     - nav2_transform_available_condition_bt_node
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -63,6 +63,7 @@ bt_navigator:
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
     - nav2_recovery_node_bt_node
     - nav2_pipeline_sequence_bt_node
     - nav2_transform_available_condition_bt_node
diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -63,6 +63,7 @@ bt_navigator:
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
+    - nav2_distance_controller_bt_node
     - nav2_recovery_node_bt_node
     - nav2_pipeline_sequence_bt_node
     - nav2_round_robin_node_bt_node
