Rotate Recovery Refactor #914
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aaronhoy
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Aug 22, 2019
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This is computing a velocity command for the base, I wouldn't think it would use the global costmap, what would be the benefit? |
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@SteveMacenski I agree. I was just noting that prior to this PR, the global costmap was brought in but not used. The state of things with this PR makes sense. |
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@DLu looks good to me! Thanks |
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* clear area in layer for melodic * Added publishZeroVelocity() before starting planner (ros-planning#751) Edit for Issue ros-planning#750 * Changed logic for when to resize layered costmap in static layer (ros-planning#792) * Changed logic for when to resize layered costmap in static layer -Now the master layered costmap should no longer get resized when isSizeLocked returns true * Fixing format for if loop * Provide different negative values for unknown and out-of-map costs (ros-planning#833) * Add force_updating and affected_maps parameters to tailor clear costmaps recovey (ros-planning#838) behavior * Costmap_2d plugin universal parameters and pre-hydro warnings (ros-planning#738) * Comment and description clarification * Renamed resetOldParameters to loadOldParameters * Upscaled pre-hydro parameter info message to warning and added costmap-name * Warn user when static_map or map_type is set but not used while plugins are used * Added function that copies parent parameters inside each layer (makes it possible to set a global inflation_radius) * use parameter magic * Fixes ros-planning#782 (ros-planning#892) * Drop Parameter Magic (ros-planning#893) * Fix typo in amcl_laser model header (ros-planning#918) * Cherry pick ros-planning#914 (ros-planning#919) * update changelogs * 1.16.3 Co-authored-by: Steven Macenski <stevenmacenski@gmail.com> Co-authored-by: SUNIL SULANIA <sunilsulania9192@gmail.com> Co-authored-by: David V. Lu!! <davidvlu@gmail.com> Co-authored-by: Jorge Santos Simón <jsantossimon@gmail.com> Co-authored-by: Martin Ganeff <martinganeff@gmail.com> Co-authored-by: Hadi Tabatabaee <hadi.tab@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
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While looking at #826, I got upset at how convoluted the logic was for the rotate recovery. Too many negative angles and odd calculations. I think this version is much clearer.
I also took the opportunity to clean things up.
@ebimor Can you check that this fixes your use case?