nav2_params.yaml needs updating for current version of nav2

[asimonov]

Version or commit hash

rolling

Steps to reproduce issue and expected behavior

launching the nav2_demo

ros2 launch space_ros_nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml

results in a few errors due to changes in format of nav2 parameter files.

Actual behavior

need to update
https://github.com/space-ros/demos/blob/main/nav2_demo/nav2_params.yaml

so far I have found these changes are required:

diff --git a/nav2_demo/nav2_params.yaml b/nav2_demo/nav2_params.yaml
index ee034a3..b210629 100644
--- a/nav2_demo/nav2_params.yaml
+++ b/nav2_demo/nav2_params.yaml
@@ -196,7 +196,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.82
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -278,7 +278,7 @@ planner_server:
     use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -300,15 +300,15 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     assisted_teleop:
-      plugin: "nav2_behaviors/AssistedTeleop"
+      plugin: "nav2_behaviors::AssistedTeleop"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1

but still seeing the below error:

lifecycle_manager-8] [INFO] [1764158150.354077133] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-5] [INFO] [1764158150.354244758] [bt_navigator]: Configuring
[bt_navigator-5] [INFO] [1764158150.357858050] [bt_navigator]: Creating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator
[bt_navigator-5] [WARN] [1764158150.364715383] [bt_navigator]: Error_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
[bt_navigator-5] Make sure these match your BT and there are not other sources of error codes youreported to your application
[bt_navigator-5] [FATAL] [1764158150.409161258] [bt_navigator]: Failed to create navigator id navigate_to_pose. Exception: ID [ComputePathToPose] already registered
[bt_navigator-5] [INFO] [1764158150.409216217] [bt_navigator]: Cleaning up
[bt_navigator-5] [INFO] [1764158150.583674884] [bt_navigator]: Completed Cleaning up
[lifecycle_manager-8] [ERROR] [1764158150.584291717] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-8] [ERROR] [1764158150.584343800] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

Backtrace or Console output

No response