I was surprised to find that I have no nav2_smoother package on my computer

bluebird · June 9, 2022, 3:17am

I followed the official installation guide, and I am using ROS2 Foxy.

bluebird · June 9, 2022, 6:31am

I don’t have nav2_behaviors either. I have tried to remove the ros-foxy-navigation2 and reinstall it again. No effect!

rzegers · June 9, 2022, 8:18am

as far as I can tell neither nav2_smoother nor nav2_behaviors are listed as dependency of the Nav2 project’s package.xml in Foxy.

See this link here:

github.com

ros-planning/navigation2/blob/foxy-devel/navigation2/package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>navigation2</name>
  <version>0.4.7</version>
  <description>
    ROS2 Navigation Stack
  </description>
  <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
  <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <!-- nav2_bringup doesn't belong for recursive dependencies -->
  <exec_depend>nav2_amcl</exec_depend>
  <exec_depend>nav2_bt_navigator</exec_depend>
  <exec_depend>nav2_costmap_2d</exec_depend>
  <exec_depend>nav2_core</exec_depend>
  <exec_depend>nav2_dwb_controller</exec_depend>

This file has been truncated. show original

Cheers,

Roberto

bluebird · June 9, 2022, 8:44am

I finally put together the first workable system, barely.

However, I have ignored the nav2_smoother and nav2_behaviors. The default behavior tree file navigate_w_replanning_and_recovery.xml is not in the official folder robot_navigation/behavior_trees. I have to use the ‘navigate_w_replanning_speed.xml.’

I have to read the manual of NAV2. I would like to say that the software manual is not the textbook. Certainly, it cannot compare with a professor’s lecture!
Waiting for your new lectures.