bt_navigator error on tutorial file

[andrejpadilha2]

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 the bt_navigator, approx. line 50: just add default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml" after groot_zmq_server_port: 1667 and before plugin_lib_names:.

I compared with the original file that was installed with the nav2 package.

[SteveMacenski]

Can you submit a PR? Actually the ZMQ ports are no longer relevant, that feature was deprecated.

[andrejpadilha2]

Sure, just submitted it. Hope it helps!

[antoszy]

@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