Difference between Humble and Jazzy navigation

1.Referenced official Jazzy example

• /opt/ros/jazzy/share/nav2_bringup/params/nav2_params.yaml
• /opt/ros/jazzy/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
• /opt/ros/jazzy/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml

2.Modify content

You can copy a Humble feature package and name it mycar_navigation2_jazzyand then modify this feature package.

1. 将功能包名保持为 mycar_navigation2_jazzy，并在相关位置补充修改边界注释。

   • package.xml
   • CMakeLists.txt

2. 将 _jazzy 包内 launch 文件的包路径查询保持为 mycar_navigation2_jazzy，并补充修改边界注释。

   • launch/nav2.launch.py
   • launch/bringup.launch.py
   • launch/auto_slam.launch.py

3. 对照 Jazzy 官方 bt_navigator 示例更新 params/bt.yaml。

   • 删除 Humble 时代列出的 Nav2 内置 BT 插件列表。
   • Jazzy 会自动加载 Nav2 内置 BT 插件，plugin_lib_names 只保留自定义 BT 插件。
   • 没有自定义 BT 插件时不传 plugin_lib_names，避免空列表被解析成无类型参数。
   • 新增 navigators、navigate_to_pose、navigate_through_poses。
   • 新增 error_code_names，用于配合 Jazzy 官方行为树里的 error code blackboard 变量。

4. 对照 Jazzy 官方 pluginlib 类名更新 planner 和 behavior 插件。

   • nav2_navfn_planner/NavfnPlanner 改为 nav2_navfn_planner::NavfnPlanner
   • nav2_behaviors/Spin 等改为 nav2_behaviors::Spin 等

5. 对照 Jazzy 官方行为树更新自定义 BT XML。

   • 添加 BTCPP_format="4"。
   • 添加 PlannerSelector 和 ControllerSelector。
   • ComputePathToPose、ComputePathThroughPoses、FollowPath 添加 error_code_id。
   • 添加 WouldAPlannerRecoveryHelp 和 WouldAControllerRecoveryHelp。

6. 对照 Jazzy 官方 controller 参数名更新进度检查器参数。

   • progress_checker_plugin 改为 progress_checker_plugins: ["progress_checker"]

7. 整理 planner/controller 参数文件的 YAML 结构。

   • 将重复的 /** 顶层键合并成一个。
   • global_costmap 和 local_costmap 挂在同一个 /** 根键下，避免参数解析时覆盖 server 参数。

3.Main issues fixed

Error on startup:

Failed to create navigator id navigate_to_pose. Exception: ID [ComputePathToPose] already registered

The reason is that the Humble configuration manually lists Nav2's built-in BT plugins in plugin_lib_names , whereas Jazzy already automatically loads these built-in plugins, causing ComputePathToPose to be registered repeatedly.

4.Usage

Rebuild and source:

colcon build --symlink-install --packages-select mycar_navigation2_jazzy
source install/setup.bash

Start Jazzy version:

ros2 launch mycar_navigation2_jazzy bringup.launch.py use_sim_time:=True

5.Verified

Executed:

colcon build --symlink-install --packages-select mycar_navigation2_jazzy
ros2 launch mycar_navigation2_jazzy nav2.launch.py --show-args
ros2 launch mycar_navigation2_jazzy bringup.launch.py --show-args

Additionally, a short startup check was performed with timeout:

ros2 launch mycar_navigation2_jazzy bringup.launch.py use_sim_time:=True

Result:

• bt_navigator Successfully created navigate_to_pose and navigate_through_poses.
• planner_server Successfully loaded nav2_navfn_planner::NavfnPlanner.
• controller_server Successfully loaded DWB and all critics.
• behavior_server Successfully loaded nav2_behaviors::... plugin.
• In a short startup environment without Gazebo/robot_state_publisher/TF, it finally stopped waiting for base_link -> map TF; this is an expected missing runtime environment, not a configuration fatal.