Nav2 dashing now uses a different default navigation goal topic name than RViz

[rotu]

#1096 changed the bt_navigator to listen for navigation goals on the "/goal_pose" topic instead of the "/move_base_simple/goal" topic.

https://github.com/ros-planning/navigation2/blob/ec6ae7cf4e7a804f51776d8877ad65bdfc94f2d5/nav2_bt_navigator/src/bt_navigator.cpp#L58-L61

The corresponding change in RViz has not been backported:
ros2/rviz#455

I don't know whether this was an appropriate change to backport. The fix is to either backport this change on RViz or to undo the change in Navigation2.

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.05
• Version or commit hash:
  • bd0fe8b
• DDS implementation:
  • CycloneDDS

Steps to reproduce issue

Launch nav2 and rviz and specify a goal pose.

Expected behavior

bt_navigator responds to the goal pose

Actual behavior

bt_navigator never acknowledges the message

[SteveMacenski]

Its not a bug, if you're running bleed of both, it should be aligned. I made that change. RVIZ bleed now publishes at goal_pose too

[rotu]

@SteveMacenski Please reread the issue and reopen. I assume by "bleed" you mean Eloquent. I'm talking about Dashing, which has recently backported this breaking change:

https://github.com/ros-planning/navigation2/blob/dashing-devel/nav2_bt_navigator/src/bt_navigator.cpp#L58-L61

https://github.com/SteveMacenski/rviz/blob/dashing/rviz_common/default.rviz#L66-L67

[SteveMacenski]

ah, @crdelsey can we get that updated in the next sync?

Its going to be a few weeks at the earliest before the package manager will reflect that.

[rotu]

To be clear, are you un-backporting the change in Nav2 Dashing or backporting the change in RViz Dashing?

[SteveMacenski]

un-backporting the change in Nav2 Dashing. I don't have control over RViz and that's not a change that should have been backported in either

[SteveMacenski]

I'll fix this, but also just having a config for your rviz that remaps the topic is a 15 second thing. I'd recommend from just a company perspective to not be using the default rviz configs because you never know who's going to do what to it when.

[rotu]

@SteveMacenski Thank you. I wasn't using the RViz default. I was using my own rviz file and spent half an hour trying to figure out why Nav2 was broken :-)

[rotu]

@SteveMacenski Did this get released? Why don't I see this change in ros-dashing-nav2-bt-navigator 0.2.4-1bionic.20191001.071451?

[crdelsey]

This will end up in the 0.2.5 binaries.