Rename groot_publisher_port parameter to groot_server_port

Signed-off-by: Alberto Tudela <[email protected]>

Author: ajtudela

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

@@ -93,10 +93,10 @@ class BtActionServer
 
   /**
    * @brief Enable (or disable) Groot2 monitoring of BT
-   * @param Enable Groot2 monitoring
-   * @param Publisher Publisher port
+   * @param enable Groot2 monitoring
+   * @param server_port Groot2 Server port, first of the pair (server_port, publisher_port)
    */
-  void setGrootMonitoring(const bool enable, const unsigned publisher_port);
+  void setGrootMonitoring(const bool enable, const unsigned server_port);
 
   /**
    * @brief Replace current BT with another one
@@ -286,7 +286,7 @@ class BtActionServer
 
   // Parameters for Groot2 monitoring
   bool enable_groot_monitoring_ = true;
-  int groot_publisher_port_ = 1666;
+  int groot_server_port_ = 1667;
 
   // User-provided callbacks
   OnGoalReceivedCallback on_goal_received_callback_;

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -245,10 +245,10 @@ bool BtActionServer<ActionT>::on_cleanup()
 }
 
 template<class ActionT>
-void BtActionServer<ActionT>::setGrootMonitoring(const bool enable, const unsigned publisher_port)
+void BtActionServer<ActionT>::setGrootMonitoring(const bool enable, const unsigned server_port)
 {
   enable_groot_monitoring_ = enable;
-  groot_publisher_port_ = publisher_port;
+  groot_server_port_ = server_port;
 }
 
 template<class ActionT>
@@ -299,10 +299,10 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
 
   // Enable monitoring with Groot2
   if (enable_groot_monitoring_) {
-    bt_->addGrootMonitoring(&tree_, groot_publisher_port_);
+    bt_->addGrootMonitoring(&tree_, groot_server_port_);
     RCLCPP_DEBUG(
       logger_, "Enabling Groot2 monitoring for %s: %d",
-      action_name_.c_str(), groot_publisher_port_);
+      action_name_.c_str(), groot_server_port_);
   }
 
   return true;

nav2_bringup/params/nav2_params.yaml

@@ -53,12 +53,12 @@ bt_navigator:
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
-      enable_groot_monitoring: False
-      groot_publisher_port: 1667
+      enable_groot_monitoring: false
+      groot_server_port: 1667
     navigate_through_poses:
       plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
-      enable_groot_monitoring: False
-      groot_publisher_port: 1669
+      enable_groot_monitoring: false
+      groot_server_port: 1669
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml

nav2_bt_navigator/src/navigators/navigate_through_poses.cpp

@@ -49,13 +49,13 @@ NavigateThroughPosesNavigator::configure(
     node->declare_parameter(getName() + ".enable_groot_monitoring", false);
   }
 
-  if (!node->has_parameter(getName() + ".groot_publisher_port")) {
-    node->declare_parameter(getName() + ".groot_publisher_port", 1669);
+  if (!node->has_parameter(getName() + ".groot_server_port")) {
+    node->declare_parameter(getName() + ".groot_server_port", 1669);
   }
 
   bt_action_server_->setGrootMonitoring(
       node->get_parameter(getName() + ".enable_groot_monitoring").as_bool(),
-      node->get_parameter(getName() + ".groot_publisher_port").as_int());
+      node->get_parameter(getName() + ".groot_server_port").as_int());
 
   return true;
 }

nav2_bt_navigator/src/navigators/navigate_to_pose.cpp

@@ -55,13 +55,13 @@ NavigateToPoseNavigator::configure(
     node->declare_parameter(getName() + ".enable_groot_monitoring", false);
   }
 
-  if (!node->has_parameter(getName() + ".groot_publisher_port")) {
-    node->declare_parameter(getName() + ".groot_publisher_port", 1667);
+  if (!node->has_parameter(getName() + ".groot_server_port")) {
+    node->declare_parameter(getName() + ".groot_server_port", 1667);
   }
 
   bt_action_server_->setGrootMonitoring(
       node->get_parameter(getName() + ".enable_groot_monitoring").as_bool(),
-      node->get_parameter(getName() + ".groot_publisher_port").as_int());
+      node->get_parameter(getName() + ".groot_server_port").as_int());
 
   return true;
 }

nav2_system_tests/src/system/nav2_system_params.yaml

@@ -50,8 +50,8 @@ bt_navigator:
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
-      enable_groot_monitoring: false
-      groot_publisher_port: 1667
+      enable_groot_monitoring: true
+      groot_server_port: 1667
     navigate_through_poses:
       plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
     error_code_name_prefixes: