Closed andrejpadilha2 closed 11 months ago
Can you submit a PR? Actually the ZMQ ports are no longer relevant, that feature was deprecated.
Sure, just submitted it. Hope it helps!
@SteveMacenski Is real-time BT graph visualization still possible with ZMQ ports depreciated?
Edit: Found my answer. The whole future of live graph visualisation is depreciated: https://github.com/ros-planning/navigation2/issues/3770
There was probably an update on nav2 that wasn't updated in the basic setup here: https://navigation.ros.org/setup_guides/footprint/setup_footprint.html
The configuration file
nav2_params.yaml
needs one line to work, under thebt_navigator
, approx. line 50: just adddefault_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
aftergroot_zmq_server_port: 1667
and beforeplugin_lib_names:
.I compared with the original file that was installed with the nav2 package.