[ros2-master] Fix build for last nav2 main branch #274
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@doisyg this is on my radar right now preping for the galactic release, we should work on getting this merged in / let me take a look now that there's been a few more updates what else may be required |
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Great! @SteveMacenski are you a maintener of TEB too ? |
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I'm not, this is on my list to circle back to, but getting STVL and NPVL up to date with master is coming first before I will come back to this. Updates on those important noetic/melodic updates would be good. I'm not sure what the best course of action is there. I'm thinking you should submit those against foxy/ros2 first, then the API updates for |
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Hi, I chatted with @croesmann and he’s given me write permissions to support the ROS2 branch! I’ll follow up here next week |
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@doisyg if this builds against Nav2 master, we can merge this |
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It does! |
| cfg_->robot.base_max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards; | ||
| cfg_->robot.base_max_vel_y = cfg_->robot.base_max_vel_y; | ||
| cfg_->robot.base_max_vel_theta = cfg_->robot.base_max_vel_theta; |
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Isn't this supposed to be:
cfg_->robot.max_vel_x_backwards = cfg_->robot.base_max_vel_x_backwards * speed_limit / 100.0;
cfg_->robot.max_vel_y = cfg_->robot.base_max_vel_y * speed_limit / 100.0;
cfg_->robot.max_vel_theta = cfg_->robot.base_max_vel_theta * speed_limit / 100.0;
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These lines are inside :
if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) {
so I believe this is the intended behavior
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Sorry I copied the wrong snippet, I meant that we should be setting max_vel_* and not base_max_vel_*
See our attempted fix https://github.com/logivations/teb_local_planner/pull/33/files
Fix build for last nav2 main branch (rolling ?), basically an update of #233
Mimicking the style of https://github.com/ros-planning/navigation2/tree/main/nav2_dwb_controller/dwb_core.
setSpeedLimitstill need to be properly implemented but was added for build to complete.Do we still need to pass
nav2_util::LifecycleNode::SharedPtr nodeto theinitialize(nav2_util::LifecycleNode::SharedPtr node)function since we haverclcpp_lifecycle::LifecycleNode::WeakPtr nh_as a member variable which is initialized byTebLocalPlannerROS::configure? @SteveMacenski, you added the argument in #233, what do you think ?More generally, I see the
ros2-masterbranch of this repo as the ros2 dev branch which should try to stay compatible with the nav2 main branch, am I right @amakarow ? Also it seems that this branch is late on manymelodic-develPRs, any plans to port them ?