planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated #718
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nhatao
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[498] PASSED on noeticAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #718 +/- ##
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+ Coverage 88.62% 88.65% +0.03%
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Files 60 60
Lines 4421 4435 +14
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+ Hits 3918 3932 +14
Misses 503 503
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at-wat
reviewed
Sep 11, 2023
| end_metric.position.x, end_metric.position.y, tf2::getYaw(end_metric.orientation)); | ||
| end_grid.cycleUnsigned(map_info_.angle); | ||
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| if (!cm_.validate(start_grid, range_)) | ||
| { | ||
| ROS_ERROR("You are on the edge of the world."); |
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I think logs in buildStartPoses shouldn't be shown on GetPlan service call
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cbMakePlan() does not call this function as it uses the start pose designated in GetPlan::Request without anti-alias or relocations.
at-wat
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The algorithms to build path planning start poses are moved to a new function
buildStartPoses().This const function returns the status of the start pose and builds a vector of start poses.
In addition, the algorithm is fixed to check the finishing condition when the start pose is relocated.