Add support for vehicle_width_override property on route #485
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
malban
reviewed
Sep 20, 2017
swri_route_util/src/route_speeds.cpp
Outdated
| @@ -355,10 +355,24 @@ void speedsForObstacles( | |||
| } | |||
| continue; | |||
| } | |||
|
|
|||
| // Use lane width as the car radius when smaller | |||
There was a problem hiding this comment.
Please elaborate the comment to describe the purpose of this override and replace 'lane width' with the name of the propery
malban
reviewed
Sep 20, 2017
swri_route_util/src/route_speeds.cpp
Outdated
| double veh_r = car_r; | ||
| if (point.hasProperty("vehicle_width_override")) | ||
| { | ||
| ROS_INFO("Speeds for obstacle found vehicle_width_override property"); |
There was a problem hiding this comment.
I think this will spam the console in most cases. This should probably be removed or set to ROS_DEBUG
Apply Marc's recommendations
kriskozak
reviewed
Sep 21, 2017
| // Pick the smaller of the radii | ||
| if (veh_r >= width/2.0) | ||
| { | ||
| veh_r = width/2.0; |
There was a problem hiding this comment.
It probably makes sense to issue a warning here if the vehicle width is actually overridden. Doing so won't change the behavior, but it will make it more obvious if it causes problems. Given Marc's earlier comment about spamming the console, a ROS_WARN_THROTTLE(1.0, ...) is probably appropriate.
Add thottled warning for when vehicle width is overriden.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.