Nav2 changed how use_sim_time is set, should not be in yaml

Author: hilary-luo

turtlebot4_navigation/config/localization.yaml

@@ -1,6 +1,5 @@
 amcl:
   ros__parameters:
-    use_sim_time: true
     alpha1: 0.2
     alpha2: 0.2
     alpha3: 0.2
@@ -39,16 +38,8 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-map_server:
-  ros__parameters:
-    use_sim_time: true
-    # Overridden in launch by the "map" launch configuration or provided default value.
-    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
-    yaml_filename: ""
-
 map_saver:
   ros__parameters:
-    use_sim_time: true
     save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65

turtlebot4_navigation/config/nav2.yaml

@@ -1,6 +1,5 @@
 bt_navigator:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     global_frame: map
     robot_base_frame: base_link
@@ -20,7 +19,6 @@ bt_navigator:
 
 controller_server:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
@@ -128,13 +126,11 @@ controller_server:
 local_costmap:
   local_costmap:
     ros__parameters:
-      use_sim_time: true
       enable_stamped_cmd_vel: true
       update_frequency: 5.0
       publish_frequency: 2.0
       global_frame: odom
       robot_base_frame: base_link
-      use_sim_time: true
       rolling_window: true
       width: 3
       height: 3
@@ -173,13 +169,11 @@ local_costmap:
 global_costmap:
   global_costmap:
     ros__parameters:
-      use_sim_time: true
       enable_stamped_cmd_vel: true
       update_frequency: 1.0
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      use_sim_time: true
       robot_radius: 0.175
       resolution: 0.06
       track_unknown_space: true
@@ -209,10 +203,8 @@ global_costmap:
 
 planner_server:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     #expected_planner_frequency: 20.0
-    use_sim_time: true
     planner_plugins: ["GridBased"]
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"
@@ -222,7 +214,6 @@ planner_server:
 
 smoother_server:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     smoother_plugins: ["simple_smoother"]
     simple_smoother:
@@ -233,7 +224,6 @@ smoother_server:
 
 behavior_server:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     local_costmap_topic: local_costmap/costmap_raw
     global_costmap_topic: global_costmap/costmap_raw
@@ -260,13 +250,8 @@ behavior_server:
     min_rotational_vel: 0.4
     rotational_acc_lim: 3.2
 
-robot_state_publisher:
-  ros__parameters:
-    use_sim_time: true
-
 waypoint_follower:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     loop_rate: 20
     stop_on_failure: false
@@ -279,7 +264,6 @@ waypoint_follower:
 
 velocity_smoother:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     smoothing_frequency: 20.0
     scale_velocities: False
@@ -295,7 +279,6 @@ velocity_smoother:
 
 collision_monitor:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     base_frame_id: "base_link"
     odom_frame_id: "odom"
@@ -328,7 +311,6 @@ collision_monitor:
 
 docking_server:
   ros__parameters:
-    use_sim_time: true
     enable_stamped_cmd_vel: true
     controller_frequency: 50.0
     initial_perception_timeout: 5.0