Publish collision points for debug purposes (ros-navigation#3879)

* Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * . * fixes * add to collision detector * fix * fix * . * fixes * add namespace to topic * fixes (cherry picked from commit c0fd78f)
logivations · Jan 17, 2024 · f50b01d · f50b01d
1 parent 52f9370
commit f50b01d
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diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -337,7 +337,6 @@ void CollisionDetector::process()
     marker.color.r = 1.0;
     marker.color.a = 1.0;
     marker.lifetime = rclcpp::Duration(0, 0);
-    marker.frame_locked = true;
 
     for (const auto & point : collision_points) {
       geometry_msgs::msg::Point p;

diff --git a/nav2_collision_monitor/src/collision_monitor_node.cpp b/nav2_collision_monitor/src/collision_monitor_node.cpp
@@ -421,7 +421,6 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in)
     marker.color.r = 1.0;
     marker.color.a = 1.0;
     marker.lifetime = rclcpp::Duration(0, 0);
-    marker.frame_locked = true;
 
     for (const auto & point : collision_points) {
       geometry_msgs::msg::Point p;