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[NavFn] Make the 3 parameters changeable at runtime #2181

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merged 5 commits into from
Feb 25, 2021
Merged

[NavFn] Make the 3 parameters changeable at runtime #2181

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9f8e665
make the 3 params changeable at runtime
Feb 11, 2021
661a186
use parameter events callbacks
Feb 15, 2021
cfb3079
Merge branch 'main' into dyn_navfn_params
Feb 25, 2021
3851b21
doxygen
Feb 25, 2021
5fd20ed
lint
Feb 25, 2021
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2 changes: 2 additions & 0 deletions nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,8 @@ class NavfnPlanner : public nav2_core::GlobalPlanner

// Whether to use the astar planner or default dijkstras
bool use_astar_;

rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
};

} // namespace nav2_navfn_planner
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9 changes: 8 additions & 1 deletion nav2_navfn_planner/src/navfn_planner.cpp
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Expand Up @@ -67,7 +67,8 @@ NavfnPlanner::configure(
costmap_ = costmap_ros->getCostmap();
global_frame_ = costmap_ros->getGlobalFrameID();

auto node = parent.lock();
node_ = parent;
auto node = node_.lock();
clock_ = node->get_clock();
logger_ = node->get_logger();

Expand Down Expand Up @@ -123,6 +124,12 @@ nav_msgs::msg::Path NavfnPlanner::createPlan(
steady_clock::time_point a = steady_clock::now();
#endif

// Refresh parameter
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auto node = node_.lock();
node->get_parameter(name_ + ".tolerance", tolerance_);
node->get_parameter(name_ + ".use_astar", use_astar_);
node->get_parameter(name_ + ".allow_unknown", allow_unknown_);

// Update planner based on the new costmap size
if (isPlannerOutOfDate()) {
planner_->setNavArr(
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