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costmap_cspace: always store received overlay map #109

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Jan 25, 2018
Merged

costmap_cspace: always store received overlay map #109

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11 changes: 10 additions & 1 deletion costmap_cspace/include/costmap_3d_layer/base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -278,7 +278,16 @@ class Costmap3dLayerBase

*map_overlay_ = *map_;
if (map_updated_.info.width > 0 && map_updated_.info.height > 0)
updateCSpace(map_updated_);
{
if (map_->header.frame_id == map_updated_.header.frame_id)
{
updateCSpace(map_updated_);
}
else
{
ROS_ERROR("map and map_overlay must have same frame_id. skipping");
}
}

if (updateChain())
return true;
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5 changes: 0 additions & 5 deletions costmap_cspace/src/costmap_3d.cpp
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Expand Up @@ -77,11 +77,6 @@ class Costmap3DOFNode
ROS_DEBUG("Overlay 2D costmap received");

auto map_msg = map->getMap();
if (map_msg->header.frame_id != msg->header.frame_id)
{
ROS_ERROR("map and map_overlay must have same frame_id");
return;
}
if (map_msg->info.width < 1 ||
map_msg->info.height < 1)
return;
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