use_sim_time should not be in the yaml in Jazzy (#19)

Author: hilary-luo

config/a200/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: sensors/lidar2d_0/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

config/a200/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
@@ -61,17 +60,14 @@ bt_navigator:
 
 bt_navigator_navigate_through_poses_rclcpp_node:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
 
 bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
 
 controller_server:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
@@ -148,7 +144,6 @@ local_costmap:
       publish_frequency: 2.0
       global_frame: odom
       robot_base_frame: base_link
-      use_sim_time: True
       enable_stamped_cmd_vel: True
       rolling_window: true
       width: 5
@@ -192,7 +187,6 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      use_sim_time: True
       enable_stamped_cmd_vel: True
       footprint: "[ [0.55, 0.45], [0.55, -0.45], [-0.55, -0.45], [-0.55, 0.45] ]"
       resolution: 0.06
@@ -224,7 +218,6 @@ global_costmap:
 planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     planner_plugins: ["GridBased"]
     GridBased:
@@ -235,7 +228,6 @@ planner_server:
 
 smoother_server:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     smoother_plugins: ["simple_smoother"]
     simple_smoother:
@@ -263,20 +255,14 @@ behavior_server:
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
-    use_sim_time: true
     enable_stamped_cmd_vel: True
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
     min_rotational_vel: 0.2
     rotational_acc_lim: 0.5
 
-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
@@ -288,7 +274,6 @@ waypoint_follower:
 
 velocity_smoother:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     smoothing_frequency: 20.0
     scale_velocities: False

config/a300/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: sensors/lidar2d_0/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

config/a300/nav2.yaml

@@ -1,6 +1,5 @@
 bt_navigator:
   ros__parameters:
-    use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
     odom_topic: platform/odom/filtered
@@ -58,17 +57,8 @@ bt_navigator:
     - nav2_assisted_teleop_cancel_bt_node
     - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_navigate_through_poses_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
-bt_navigator_navigate_to_pose_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 controller_server:
   ros__parameters:
-    use_sim_time: True
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
@@ -142,7 +132,6 @@ local_costmap:
       publish_frequency: 2.0
       global_frame: odom
       robot_base_frame: base_link
-      use_sim_time: True
       rolling_window: true
       width: 5
       height: 5
@@ -185,7 +174,6 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      use_sim_time: True
       footprint: "[ [0.495, 0.349], [0.495, -0.349], [-0.495, -0.349], [-0.495, 0.349] ]"
       resolution: 0.06
       track_unknown_space: true
@@ -216,7 +204,6 @@ global_costmap:
 planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
-    use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
       plugin: "nav2_navfn_planner/NavfnPlanner"
@@ -226,7 +213,6 @@ planner_server:
 
 smoother_server:
   ros__parameters:
-    use_sim_time: True
     smoother_plugins: ["simple_smoother"]
     simple_smoother:
       plugin: "nav2_smoother::SimpleSmoother"
@@ -253,19 +239,13 @@ behavior_server:
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
-    use_sim_time: true
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
     min_rotational_vel: 0.2
     rotational_acc_lim: 0.5
 
-robot_state_publisher:
-  ros__parameters:
-    use_sim_time: True
-
 waypoint_follower:
   ros__parameters:
-    use_sim_time: True
     loop_rate: 20
     stop_on_failure: false
     waypoint_task_executor_plugin: "wait_at_waypoint"
@@ -276,7 +256,6 @@ waypoint_follower:
 
 velocity_smoother:
   ros__parameters:
-    use_sim_time: True
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"

config/j100/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: sensors/lidar2d_0/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

config/j100/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
@@ -61,17 +60,14 @@ bt_navigator:
 
 bt_navigator_navigate_through_poses_rclcpp_node:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
 
 bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
 
 controller_server:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
@@ -146,7 +142,6 @@ local_costmap:
       publish_frequency: 2.0
       global_frame: odom
       robot_base_frame: base_link
-      use_sim_time: True
       enable_stamped_cmd_vel: True
       rolling_window: true
       width: 5
@@ -190,7 +185,6 @@ global_costmap:
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
-      use_sim_time: True
       enable_stamped_cmd_vel: True
       footprint: "[ [0.254, 0.2159], [0.254, -0.2159], [-0.254, -0.2159], [-0.254, 0.2159] ]"
       resolution: 0.06
@@ -222,7 +216,6 @@ global_costmap:
 planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     planner_plugins: ["GridBased"]
     GridBased:
@@ -233,7 +226,6 @@ planner_server:
 
 smoother_server:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     smoother_plugins: ["simple_smoother"]
     simple_smoother:
@@ -261,20 +253,14 @@ behavior_server:
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
-    use_sim_time: true
     enable_stamped_cmd_vel: True
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
     min_rotational_vel: 0.2
     rotational_acc_lim: 0.5
 
-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
@@ -286,7 +272,6 @@ waypoint_follower:
 
 velocity_smoother:
   ros__parameters:
-    use_sim_time: True
     enable_stamped_cmd_vel: True
     smoothing_frequency: 20.0
     scale_velocities: False

config/w200/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: sensors/lidar2d_0/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