removing useless remapping + commentaries on teb_obstacles functions

robotique-ecam · Feb 12, 2021 · df97f05 · df97f05
1 parent 803b68d
commit df97f05
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/modules/robot/robot/launcher.py b/src/modules/robot/robot/launcher.py
@@ -130,8 +130,7 @@ def generate_robot_launch_description(robot_namespace: str, simulation=False):
                         package='teb_obstacles',
                         executable='teb_obstacles',
                         output='screen',
-                        parameters=[],
-                        remappings=remappings
+                        parameters=[]
                     ),
                     IncludeLaunchDescription(
                         PythonLaunchDescriptionSource(

diff --git a/src/navigation/teb_obstacles/teb_obstacles/teb_obstacles.py b/src/navigation/teb_obstacles/teb_obstacles/teb_obstacles.py
@@ -79,9 +79,12 @@ def initObstaclesArray(self):
         self.previous_obstacles = copy.deepcopy(self.obstacles)
 
     def get_diff_time(self, t1, t2):
+        """Returns the nb of seconds between the two Time object"""
         return float(t1.sec - t2.sec + (t1.nanosec - t2.nanosec)*1e-9)
 
     def set_obstacle(self, index, marker):
+        """Set the marker as obstacle in ObstacleArrayMsg at the given index,
+           compute the linear velocities relative to the previous state"""
         self.previous_obstacles.obstacles[index] = copy.deepcopy(self.obstacles.obstacles[index])
         self.obstacles.obstacles[index].header = marker.header
         self.obstacles.obstacles[index].polygon.points[0].x = marker.pose.position.x