planner_cspace: publish internally used maps as OccupancyGrid #396
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Codecov Report
@@ Coverage Diff @@
## master #396 +/- ##
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+ Coverage 73.95% 74.68% +0.72%
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Files 58 58
Lines 4251 4258 +7
==========================================
+ Hits 3144 3180 +36
+ Misses 1107 1078 -29
Continue to review full report at Codecov.
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[#1130] PASSED on kineticAll tests passed |
[#1130] PASSED on melodicAll tests passed |
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@DaikiMaekawa please take a look. |
| remember_updates: true | ||
| hist_ignore_range: 0.0 | ||
| hist_ignore_range_max: 1.5 | ||
| </rosparam> |
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I know this works fine, but shouldn't these parameters be located inside <node pkg="planner_cspace" type="planner_3d" name="planner_3d">?
planner_3d namespace is not constant.
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navigation.launch was originally a skeleton code for real usage, and demo.launch is for demonstration which should not be in navigation.launch.
However, currently navigation.launch is much specific for demonstration. It maybe better to directly put it into neonavigation_launch/config/navigate.yaml
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I'm going to move these parameters to config/navigation.yaml for now and reorganize neonavigation_launch in #398.
| continue; | ||
| if (cost_estim_cache_[p] == FLT_MAX) | ||
| continue; | ||
| point.z = cost_estim_cache_[p] / 500; |
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where does 500 comes from?
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It's a magic parameter of the visualization used in the master branch. In this PR, it just keep compatibility with the previous behaviour.
[#1132] PASSED on kineticAll tests passed[#1132] PASSED on melodicAll tests passed |
[#1133] PASSED on kineticAll tests passed[#1133] PASSED on melodicAll tests passed |
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fix #395