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transform goal to costmap frame #1949

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merged 1 commit into from Aug 17, 2020

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@mikeferguson mikeferguson commented Aug 17, 2020

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Primary OS tested on Ubuntu
Robotic platform tested on UBR-1

The plan recieved is usually in global frame, but
our local costmap is often in odom frame. This
fixes a regression from ros-planning#1857
@mikeferguson mikeferguson requested a review from SteveMacenski Aug 17, 2020
@SteveMacenski SteveMacenski merged commit ed8ddaf into ros-planning:main Aug 17, 2020
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@mikeferguson mikeferguson deleted the transform_goal branch Aug 18, 2020
SteveMacenski pushed a commit that referenced this pull request Aug 24, 2020
The plan recieved is usually in global frame, but
our local costmap is often in odom frame. This
fixes a regression from #1857
SteveMacenski added a commit that referenced this pull request Aug 24, 2020
* waypoint_follower node has _rclcpp_node as well as base node (#1940)

* Add #include <vector> for vector<> (#1946)

To fix cpplint

* Add 'angles' dependency to nav2_costmap_2d package.xml (#1947)

* transform goal to costmap frame (#1949)

The plan recieved is usually in global frame, but
our local costmap is often in odom frame. This
fixes a regression from #1857

* Add mutex lock into inflation layer to avoid thread issue in updating footprint (#1952)

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* Fix being unable to change StandardTrajectoryGenerator parameter vtheta_samples (#1619)

* Fix tests declaring parameters real nodes don't

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Fix loadParameterWithDeprecation not getting initial parameter values

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Create sim_time variable before using it

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Line length < 100

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Add missing {

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Linter fixes

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>

* sim_granularity -> time_granularity

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>

* Linter fix

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>

* update version to 0.4.3

* removing redundant dep on angles

Co-authored-by: Ruffin <roxfoxpox@gmail.com>
Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com>
Co-authored-by: Shane Loretz <sloretz@openrobotics.org>
ruffsl pushed a commit to ruffsl/navigation2 that referenced this pull request Jul 2, 2021
The plan recieved is usually in global frame, but
our local costmap is often in odom frame. This
fixes a regression from ros-planning#1857
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