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Update costmap on new computePathToPose #796

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merged 2 commits into from
Jun 4, 2019
Merged

Update costmap on new computePathToPose #796

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12cf2d5
get costmap on computePathToPose
May 31, 2019
1bf6593
Update nav2_navfn_planner/src/navfn_planner.cpp
Jun 3, 2019
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12 changes: 12 additions & 0 deletions nav2_navfn_planner/src/navfn_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,18 @@ NavfnPlanner::computePathToPose(const std::shared_ptr<GoalHandle> goal_handle)
// TODO(mjeronimo): handle or reject an attempted pre-emption

try {
// Get the current costmap
getCostmap(costmap_);
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RCLCPP_DEBUG(get_logger(), "Costmap size: %d,%d",
costmap_.metadata.size_x, costmap_.metadata.size_y);

// Update planner based on the new costmap size
if (isPlannerOutOfDate()) {
current_costmap_size_[0] = costmap_.metadata.size_x;
current_costmap_size_[1] = costmap_.metadata.size_y;
planner_->setNavArr(costmap_.metadata.size_x, costmap_.metadata.size_y);
}

// Get the current pose from the robot
auto start = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();

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