Correct params for multi_tb3_simulation_launch.py (#2807)

ros-navigation · Feb 8, 2022 · 4bfedb8 · 4bfedb8
1 parent a1e8ea3
commit 4bfedb8
Show file tree

Hide file tree

Showing 2 changed files with 20 additions and 0 deletions.
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -275,3 +275,13 @@ recoveries_server:
 robot_state_publisher:
   ros__parameters:
     use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"   
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -275,3 +275,13 @@ recoveries_server:
 robot_state_publisher:
   ros__parameters:
     use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"   
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200