refactor: change style of plugin names

nav2_behavior_tree/README.md

@@ -45,7 +45,7 @@ Once a new node is registered with the factory, it is now available to the Behav
   <BehaviorTree ID="MainTree">
     <Sequence name="root">
       <ComputePathToPose goal="${goal}"/>
-      <FollowPath path="${path}" controller_property="FollowPath"/>
+      <FollowPath path="${path}" controller_id="follow_path"/>
     </Sequence>
   </BehaviorTree>
 </root>

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp

@@ -32,7 +32,7 @@ namespace nav2_behavior_tree
 /**
  * @brief The GoalCheckerSelector behavior is used to switch the goal checker
  * of the controller server. It subscribes to a topic "goal_checker_selector"
- * to get the decision about what goal_checker must be used. It is usually used before of
+ * to get the decision about what goal checker must be used. It is usually used before of
  * the FollowPath. The selected_goal_checker output port is passed to goal_checker_id
  * input port of the FollowPath
  * @note It will re-initialize when halted.
@@ -59,16 +59,16 @@ class GoalCheckerSelector : public BT::SyncActionNode
     return {
       BT::InputPort<std::string>(
         "default_goal_checker",
-        "the default goal_checker to use if there is not any external topic message received."),
+        "the default goal checker to use if there is not any external topic message received."),
 
       BT::InputPort<std::string>(
         "topic_name",
         "goal_checker_selector",
-        "the input topic name to select the goal_checker"),
+        "the input topic name to select the goal checker"),
 
       BT::OutputPort<std::string>(
         "selected_goal_checker",
-        "Selected goal_checker by subscription")
+        "Selected goal checker by subscription")
     };
   }
 

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp

@@ -31,7 +31,7 @@ namespace nav2_behavior_tree
 /**
  * @brief The ProgressCheckerSelector behavior is used to switch the progress checker
  * of the controller server. It subscribes to a topic "progress_checker_selector"
- * to get the decision about what progress_checker must be used. It is usually used before of
+ * to get the decision about what progress checker must be used. It is usually used before of
  * the FollowPath. The selected_progress_checker output port is passed to progress_checker_id
  * input port of the FollowPath
  * @note It will re-initialize when halted.
@@ -58,16 +58,16 @@ class ProgressCheckerSelector : public BT::SyncActionNode
     return {
       BT::InputPort<std::string>(
         "default_progress_checker",
-        "the default progress_checker to use if there is not any external topic message received."),
+        "the default progress checker to use if there is not any external topic message received."),
 
       BT::InputPort<std::string>(
         "topic_name",
         "progress_checker_selector",
-        "the input topic name to select the progress_checker"),
+        "the input topic name to select the progress checker"),
 
       BT::OutputPort<std::string>(
         "selected_progress_checker",
-        "Selected progress_checker by subscription")
+        "Selected progress checker by subscription")
     };
   }
 

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -170,7 +170,7 @@
     </Action>
 
     <Action ID="SmoothPath">
-      <input_port name="smoother_id" default="SmoothPath"/>
+      <input_port name="smoother_id" default="smooth_path"/>
       <input_port name="unsmoothed_path">Path to be smoothed</input_port>
       <input_port name="max_smoothing_duration">Maximum smoothing duration</input_port>
       <input_port name="check_for_collisions">Bool if collision check should be performed</input_port>
@@ -182,7 +182,7 @@
     </Action>
 
     <Action ID="FollowPath">
-      <input_port name="controller_id" default="FollowPath"/>
+      <input_port name="controller_id" default="follow_path"/>
       <input_port name="path">Path to follow</input_port>
       <input_port name="goal_checker_id">Goal checker</input_port>
       <input_port name="progress_checker_id">Progress checker</input_port>

nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp

@@ -130,7 +130,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
+            <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="grid_based"/>
         </BehaviorTree>
       </root>)";
 
@@ -149,10 +149,10 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick)
 
   // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("grid_based"));
   EXPECT_EQ(action_server_->getCurrentGoal()->goals.goals[0].pose.position.x, 1.0);
   EXPECT_FALSE(action_server_->getCurrentGoal()->use_start);
-  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("grid_based"));
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
@@ -189,7 +189,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <ComputePathThroughPoses goals="{goals}" start="{start}" path="{path}" planner_id="GridBased"/>
+            <ComputePathThroughPoses goals="{goals}" start="{start}" path="{path}" planner_id="grid_based"/>
         </BehaviorTree>
       </root>)";
 
@@ -214,11 +214,11 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start)
 
   // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("grid_based"));
   EXPECT_EQ(action_server_->getCurrentGoal()->goals.goals[0].pose.position.x, 1.0);
   EXPECT_EQ(action_server_->getCurrentGoal()->start.pose.position.x, 2.0);
   EXPECT_TRUE(action_server_->getCurrentGoal()->use_start);
-  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("grid_based"));
 
   // check if returned path is correct
   nav_msgs::msg::Path path;

nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp

@@ -127,7 +127,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="grid_based"/>
         </BehaviorTree>
       </root>)";
 
@@ -146,10 +146,10 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
 
   // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("grid_based"));
   EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, 1.0);
   EXPECT_FALSE(action_server_->getCurrentGoal()->use_start);
-  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("grid_based"));
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
@@ -186,7 +186,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <ComputePathToPose goal="{goal}" start="{start}" path="{path}" planner_id="GridBased"/>
+            <ComputePathToPose goal="{goal}" start="{start}" path="{path}" planner_id="grid_based"/>
         </BehaviorTree>
       </root>)";
 
@@ -211,11 +211,11 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start)
 
   // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("grid_based"));
   EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, 1.0);
   EXPECT_EQ(action_server_->getCurrentGoal()->start.pose.position.x, 2.0);
   EXPECT_TRUE(action_server_->getCurrentGoal()->use_start);
-  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("grid_based"));
 
   // check if returned path is correct
   nav_msgs::msg::Path path;

nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp

@@ -100,7 +100,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-          <ControllerSelector selected_controller="{selected_controller}" default_controller="DWB" topic_name="controller_selector_custom_topic_name"/>
+          <ControllerSelector selected_controller="{selected_controller}" default_controller="dwb" topic_name="controller_selector_custom_topic_name"/>
         </BehaviorTree>
       </root>)";
 
@@ -115,11 +115,11 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
   std::string selected_controller_result;
   EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
 
-  EXPECT_EQ(selected_controller_result, "DWB");
+  EXPECT_EQ(selected_controller_result, "dwb");
 
   std_msgs::msg::String selected_controller_cmd;
 
-  selected_controller_cmd.data = "DWC";
+  selected_controller_cmd.data = "dwc";
 
   auto controller_selector_pub =
     node_->create_publisher<std_msgs::msg::String>(
@@ -137,7 +137,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
 
   // check controller updated
   EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
-  EXPECT_EQ("DWC", selected_controller_result);
+  EXPECT_EQ("dwc", selected_controller_result);
 }
 
 TEST_F(ControllerSelectorTestFixture, test_default_topic)
@@ -147,7 +147,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-          <ControllerSelector selected_controller="{selected_controller}" default_controller="GridBased"/>
+          <ControllerSelector selected_controller="{selected_controller}" default_controller="follow_path"/>
         </BehaviorTree>
       </root>)";
 
@@ -162,11 +162,11 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
   std::string selected_controller_result;
   EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
 
-  EXPECT_EQ(selected_controller_result, "GridBased");
+  EXPECT_EQ(selected_controller_result, "follow_path");
 
   std_msgs::msg::String selected_controller_cmd;
 
-  selected_controller_cmd.data = "RRT";
+  selected_controller_cmd.data = "new_follow_path";
 
   auto controller_selector_pub =
     node_->create_publisher<std_msgs::msg::String>(
@@ -184,7 +184,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
 
   // check controller updated
   EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
-  EXPECT_EQ("RRT", selected_controller_result);
+  EXPECT_EQ("new_follow_path", selected_controller_result);
 }
 
 int main(int argc, char ** argv)

nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp

@@ -122,7 +122,7 @@ TEST_F(FollowPathActionTestFixture, test_tick)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-            <FollowPath path="{path}" controller_id="FollowPath"/>
+            <FollowPath path="{path}" controller_id="follow_path"/>
         </BehaviorTree>
       </root>)";
 
@@ -141,10 +141,10 @@ TEST_F(FollowPathActionTestFixture, test_tick)
 
   // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
-  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("controller_id"), std::string("FollowPath"));
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("controller_id"), std::string("follow_path"));
   EXPECT_EQ(action_server_->getCurrentGoal()->path.poses.size(), 1u);
   EXPECT_EQ(action_server_->getCurrentGoal()->path.poses[0].pose.position.x, 1.0);
-  EXPECT_EQ(action_server_->getCurrentGoal()->controller_id, std::string("FollowPath"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->controller_id, std::string("follow_path"));
 
   // halt node so another goal can be sent
   tree_->haltTree();
@@ -186,7 +186,7 @@ TEST(FollowPathAction, testProgressCheckerIdUpdate)
     R"(
     <root BTCPP_format="4">
       <BehaviorTree ID="MainTree">
-        <FollowPath path="{path}" controller_id="FollowPath" progress_checker_id="{progress_checker_id}"/>
+        <FollowPath path="{path}" controller_id="follow_path" progress_checker_id="{progress_checker_id}"/>
       </BehaviorTree>
     </root>)";
 
@@ -226,7 +226,7 @@ TEST(FollowPathAction, testGoalCheckerIdUpdate)
     R"(
     <root BTCPP_format="4">
       <BehaviorTree ID="MainTree">
-        <FollowPath path="{path}" controller_id="FollowPath" goal_checker_id="{goal_checker_id}" progress_checker_id="{progress_checker_id}"/>
+        <FollowPath path="{path}" controller_id="follow_path" goal_checker_id="{goal_checker_id}" progress_checker_id="{progress_checker_id}"/>
       </BehaviorTree>
     </root>)";
 
@@ -266,7 +266,7 @@ TEST(FollowPathAction, testControllerIdUpdate)
     R"(
     <root BTCPP_format="4">
       <BehaviorTree ID="MainTree">
-        <FollowPath path="{path}" controller_id="{controller_id}" goal_checker_id="FollowPath" progress_checker_id="{progress_checker_id}"/>
+        <FollowPath path="{path}" controller_id="{controller_id}" goal_checker_id="goal_checker" progress_checker_id="{progress_checker_id}"/>
       </BehaviorTree>
     </root>)";
 

nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp

@@ -100,7 +100,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-          <GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="SimpleGoalCheck" topic_name="goal_checker_selector_custom_topic_name"/>
+          <GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="simple_goal_checker" topic_name="goal_checker_selector_custom_topic_name"/>
         </BehaviorTree>
       </root>)";
 
@@ -115,11 +115,11 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic)
   std::string selected_goal_checker_result;
   EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
 
-  EXPECT_EQ(selected_goal_checker_result, "SimpleGoalCheck");
+  EXPECT_EQ(selected_goal_checker_result, "simple_goal_checker");
 
   std_msgs::msg::String selected_goal_checker_cmd;
 
-  selected_goal_checker_cmd.data = "AngularGoalChecker";
+  selected_goal_checker_cmd.data = "angular_goal_checker";
 
   rclcpp::QoS qos = nav2::qos::LatchedPublisherQoS();
 
@@ -138,7 +138,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic)
 
   // check goal_checker updated
   EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
-  EXPECT_EQ("AngularGoalChecker", selected_goal_checker_result);
+  EXPECT_EQ("angular_goal_checker", selected_goal_checker_result);
 }
 
 TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
@@ -148,7 +148,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
     R"(
       <root BTCPP_format="4">
         <BehaviorTree ID="MainTree">
-          <GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="GridBased"/>
+          <GoalCheckerSelector selected_goal_checker="{selected_goal_checker}" default_goal_checker="goal_checker"/>
         </BehaviorTree>
       </root>)";
 
@@ -163,11 +163,11 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
   std::string selected_goal_checker_result;
   EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
 
-  EXPECT_EQ(selected_goal_checker_result, "GridBased");
+  EXPECT_EQ(selected_goal_checker_result, "goal_checker");
 
   std_msgs::msg::String selected_goal_checker_cmd;
 
-  selected_goal_checker_cmd.data = "RRT";
+  selected_goal_checker_cmd.data = "new_goal_checker";
 
   rclcpp::QoS qos = nav2::qos::LatchedPublisherQoS();
 
@@ -186,7 +186,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
 
   // check goal_checker updated
   EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
-  EXPECT_EQ("RRT", selected_goal_checker_result);
+  EXPECT_EQ("new_goal_checker", selected_goal_checker_result);
 }
 
 int main(int argc, char ** argv)