{"action":"created","issue":{"url":"https://api.github.com/repos/ros-planning/navigation2/issues/1154","repository_url":"https://api.github.com/repos/ros-planning/navigation2","labels_url":"https://api.github.com/repos/ros-planning/navigation2/issues/1154/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/navigation2/issues/1154/comments","events_url":"https://api.github.com/repos/ros-planning/navigation2/issues/1154/events","html_url":"https://github.com/ros-planning/navigation2/issues/1154","id":496807600,"node_id":"MDU6SXNzdWU0OTY4MDc2MDA=","number":1154,"title":"dwb oscillation critic not extracting parameters from yaml params file ","user":{"login":"Jconn","id":7256767,"node_id":"MDQ6VXNlcjcyNTY3Njc=","avatar_url":"https://avatars2.githubusercontent.com/u/7256767?v=4","gravatar_id":"","url":"https://api.github.com/users/Jconn","html_url":"https://github.com/Jconn","followers_url":"https://api.github.com/users/Jconn/followers","following_url":"https://api.github.com/users/Jconn/following{/other_user}","gists_url":"https://api.github.com/users/Jconn/gists{/gist_id}","starred_url":"https://api.github.com/users/Jconn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jconn/subscriptions","organizations_url":"https://api.github.com/users/Jconn/orgs","repos_url":"https://api.github.com/users/Jconn/repos","events_url":"https://api.github.com/users/Jconn/events{/privacy}","received_events_url":"https://api.github.com/users/Jconn/received_events","type":"User","site_admin":false},"labels":[{"id":1109209141,"node_id":"MDU6TGFiZWwxMTA5MjA5MTQx","url":"https://api.github.com/repos/ros-planning/navigation2/labels/1%20-%20High","name":"1 - High","color":"f7de20","default":false},{"id":948691578,"node_id":"MDU6TGFiZWw5NDg2OTE1Nzg=","url":"https://api.github.com/repos/ros-planning/navigation2/labels/bug","name":"bug","color":"d73a4a","default":true}],"state":"open","locked":false,"assignee":{"login":"bpwilcox","id":22353511,"node_id":"MDQ6VXNlcjIyMzUzNTEx","avatar_url":"https://avatars3.githubusercontent.com/u/22353511?v=4","gravatar_id":"","url":"https://api.github.com/users/bpwilcox","html_url":"https://github.com/bpwilcox","followers_url":"https://api.github.com/users/bpwilcox/followers","following_url":"https://api.github.com/users/bpwilcox/following{/other_user}","gists_url":"https://api.github.com/users/bpwilcox/gists{/gist_id}","starred_url":"https://api.github.com/users/bpwilcox/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bpwilcox/subscriptions","organizations_url":"https://api.github.com/users/bpwilcox/orgs","repos_url":"https://api.github.com/users/bpwilcox/repos","events_url":"https://api.github.com/users/bpwilcox/events{/privacy}","received_events_url":"https://api.github.com/users/bpwilcox/received_events","type":"User","site_admin":false},"assignees":[{"login":"bpwilcox","id":22353511,"node_id":"MDQ6VXNlcjIyMzUzNTEx","avatar_url":"https://avatars3.githubusercontent.com/u/22353511?v=4","gravatar_id":"","url":"https://api.github.com/users/bpwilcox","html_url":"https://github.com/bpwilcox","followers_url":"https://api.github.com/users/bpwilcox/followers","following_url":"https://api.github.com/users/bpwilcox/following{/other_user}","gists_url":"https://api.github.com/users/bpwilcox/gists{/gist_id}","starred_url":"https://api.github.com/users/bpwilcox/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bpwilcox/subscriptions","organizations_url":"https://api.github.com/users/bpwilcox/orgs","repos_url":"https://api.github.com/users/bpwilcox/repos","events_url":"https://api.github.com/users/bpwilcox/events{/privacy}","received_events_url":"https://api.github.com/users/bpwilcox/received_events","type":"User","site_admin":false}],"milestone":null,"comments":5,"created_at":"2019-09-22T17:22:26Z","updated_at":"2019-10-13T21:31:38Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"## Bug report\r\n\r\n**Required Info:**\r\n\r\n- Operating System:\r\nUbuntu 18.04 \r\n- Version or commit hash:\r\nnavigation 0.2.4\r\n- DDS implementation:\r\nopensplice\r\n\r\n\r\n#### Steps to reproduce issue\r\n\r\nset oscillation parameters in the config yaml file \r\n\r\n    #default is .2\r\n    Oscillation.oscillation_reset_angle: 3.14 \r\n    #default is .05\r\n    Oscillation.oscillation_reset_dist: 1.5\r\n    Oscillation.x_only_threshold: 1.5\r\n\r\n#### Expected behavior\r\n\r\n#### Actual behavior\r\nOscillation critic is only picking up the 'x_only_threshold'. The 'oscillation_reset_angle' and 'oscillation_reset_dist' params remain at their default values of .2 and .04\r\n\r\n\r\nLooking at the code, x_only_threshold is handled differently than the rest of the parameters. \r\n\r\n\r\n```\r\n  oscillation_reset_dist_ = nav_2d_utils::searchAndGetParam(nh_, \"oscillation_reset_dist\", 0.05);\r\n  oscillation_reset_angle_ = nav_2d_utils::searchAndGetParam(nh_, \"oscillation_reset_angle\", 0.2);\r\n\r\n  nav2_util::declare_parameter_if_not_declared(nh_,\r\n    name_ + \".x_only_threshold\", rclcpp::ParameterValue(0.05));\r\n  nh_->get_parameter(name_ + \".x_only_threshold\", x_only_threshold_);\r\n\r\n```\r\n\r\n\r\nIt seems like the rest of the params do not expect the critic name to be prepended.  \r\nI had to add a param declaration and modified the searchAndGetParam call to look for \r\n`name_+ '.<param_name>'\r\n` to get this critic to use params my params specified above. \r\n"},"comment":{"url":"https://api.github.com/repos/ros-planning/navigation2/issues/comments/541461775","html_url":"https://github.com/ros-planning/navigation2/issues/1154#issuecomment-541461775","issue_url":"https://api.github.com/repos/ros-planning/navigation2/issues/1154","id":541461775,"node_id":"MDEyOklzc3VlQ29tbWVudDU0MTQ2MTc3NQ==","user":{"login":"Jconn","id":7256767,"node_id":"MDQ6VXNlcjcyNTY3Njc=","avatar_url":"https://avatars2.githubusercontent.com/u/7256767?v=4","gravatar_id":"","url":"https://api.github.com/users/Jconn","html_url":"https://github.com/Jconn","followers_url":"https://api.github.com/users/Jconn/followers","following_url":"https://api.github.com/users/Jconn/following{/other_user}","gists_url":"https://api.github.com/users/Jconn/gists{/gist_id}","starred_url":"https://api.github.com/users/Jconn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jconn/subscriptions","organizations_url":"https://api.github.com/users/Jconn/orgs","repos_url":"https://api.github.com/users/Jconn/repos","events_url":"https://api.github.com/users/Jconn/events{/privacy}","received_events_url":"https://api.github.com/users/Jconn/received_events","type":"User","site_admin":false},"created_at":"2019-10-13T21:31:38Z","updated_at":"2019-10-13T21:31:38Z","author_association":"CONTRIBUTOR","body":"@bpwilcox I'm failing to build the nav2 master branch, because I'm failing to build ros2 master for reasons I don't understand and am not interested in looking into right now. So I'm not going to submit a PR. I have to prioritize some other things right now, so I'm going to back out of my commitment. My change is [on my fork](https://github.com/Jconn/navigation2/tree/issues/1154_critic_param_name_fix). \r\nIf you like what you see, you can cherry-pick the commit and make a pr. It's a few param name changes :)"}}
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