get costmap on computePathToPose

ros-navigation · May 31, 2019 · fcbf46f · fcbf46f
1 parent c4cc919
commit fcbf46f
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -163,6 +163,7 @@ NavfnPlanner::computePathToPose(const std::shared_ptr<GoalHandle> goal_handle)
 
   try {
     // Get the current pose from the robot
+    getCostmap(costmap_);
     auto start = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
 
     if (!robot_->getCurrentPose(start)) {