Divide output layer class into specific classes #633
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at-wat
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Apr 13, 2022
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When Costmap3dLayerStopPropagation is not used on top of the dynamic layers, updates in the static layers should be propagated to the dynamic layers.
Without Costmap3dLayerStopPropagation, /costmap_update contains both static obstacles and dynamic obstacles.
This mode is needed when planner_3d is used with overwrite_cost: true and layer's overlay_mode: overwrite.
(It is for the use cases that robot run over the static map obstacles when local observation can clarify the place is safe to travel)
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I didn't change the algorithm of making |
at-wat
approved these changes
Apr 13, 2022
at-wat
reviewed
Apr 13, 2022
costmap_cspace/src/costmap_3d.cpp
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| { | ||
| if (update) | ||
| { | ||
| publishDebug(*map); |
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I think updated map should be reflected to the debug output instead of the static map
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Done. Please take another look.
[190] PASSED on melodicAll tests passed[190] PASSED on noeticAll tests passed |
[191] PASSED on noeticAll tests passed[191] PASSED on melodicAll tests passed |
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This PR divides Costmap3dLayerOutput into Costmap3dStaticLayerOutput and Costmap3dUpdateLayerOutput.
This change can omit unnecessary generation of costmap_cspace_msgs::CSpace3DUpdate when static map is updated.