Implement service to force update the costmaps #340
Merged
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
ChristofDubs
approved these changes
Dec 11, 2023
corot
reviewed
Dec 12, 2023
mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
Outdated
Show resolved
Hide resolved
corot
reviewed
Dec 12, 2023
mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
Outdated
Show resolved
Hide resolved
siferati
force-pushed
the
tiago/mbf_service
branch
from
00dd8a1 to
5acae8c
Compare
corot
approved these changes
Dec 18, 2023
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Outdated suggestions cannot be applied.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.
Description
Added a new service
force_update_costmapsto force an update to happen NOW.Bonus: fixed description of
clear_costmapsservice -- I guess it was a mistake from copy-pasting.Testing
Demo
Note that in the video I set the update frequency to 0, so in order for rviz to reflect the change I need to re-toggle the subscribers.
But you can see how the footprint immediately updates to the new position.
2023-12-11.14-30-00.mp4