yaml file not applied

[lgh5054]

Describe the bug

We are testing with the px4 vision kit

The structure.yaml file, which is set by default, does not apply.

Expected behavior By default, the Yaml file is not applied, so only the parameters written in the local_planner_node changed the value to create a new Yaml file

The Yaml produced only by the parameters on the local_planner node is well applied.

However, the local_planner node does not have a parameter that adjusts the box_size, so you cannot change it if you want to.

I think it only applies when creating a Yaml file with the parameters listed in the Local_planner_node. How do I change the Box_size?

[Jaeyoung-Lim]

@lgh5054 Which yaml file are you talking about?

[lgh5054]

@Jaeyoung-Lim !!python/object/new:dynamic_reconfigure.encoding.Config dictitems: adapt_cost_params_: true box_radius_: 15.0 children_per_node_: 50 goal_cost_param_: 10.0 goal_z_param: 3.0 groups: !!python/object/new:dynamic_reconfigure.encoding.Config dictitems: adapt_cost_params_: true box_radius_: 15.0 children_per_node_: 50 goal_cost_param_: 10.0 goal_z_param: 3.0 groups: !!python/object/new:dynamic_reconfigure.encoding.Config state: [] heading_cost_param_: 0.5 id: 0 max_path_length_: 3.0 max_point_age_s_: 20.0 min_num_points_per_cell_: 100 min_realsense_dist_: 0.2 n_expanded_nodes_: 10 name: Default no_progress_slope_: -0.0007 parameters: !!python/object/new:dynamic_reconfigure.encoding.Config state: [] parent: 0 smooth_cost_param_: 1.5 smoothing_margin_degrees_: 40.0 smoothing_speed_xy_: 10.0 smoothing_speed_z_: 3.0 state: true timeout_critical_: 0.5 timeout_termination_: 15.0 tree_discount_factor_: 0.8 tree_node_distance_: 1.0 type: '' use_vel_setpoints_: false state: [] heading_cost_param_: 0.5 max_path_length_: 3.0 max_point_age_s_: 20.0 min_num_points_per_cell_: 100 min_realsense_dist_: 0.2 n_expanded_nodes_: 10 no_progress_slope_: -0.0007 smooth_cost_param_: 1.5 smoothing_margin_degrees_: 40.0 smoothing_speed_xy_: 10.0 smoothing_speed_z_: 3.0 timeout_critical_: 0.5 timeout_termination_: 15.0 tree_discount_factor_: 0.8 tree_node_distance_: 1.0 use_vel_setpoints_: false state: []

[Jaeyoung-Lim]

@lgh5054 I am not sure if I understand correctly, is this a question about this repository or the px4vision?

[lgh5054]

@Jaeyoung-Lim Both of these questions apply.

The parametas above are yaml applied to the px4 vision kit. However, the local_planner used in the px4vision kit was the latest version, so the box_radius and other Parameta were changed to the latest version and disappeared. Therefore, the Yaml enclosed in the vision kit does not seem to be applicable.