costmap_cspace: make costmap layer structure configurable #106
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PASSEDAll tests passed |
PASSEDAll tests passed |
PASSEDAll tests passed |
at-wat
commented
Jan 23, 2018
costmap_cspace/src/costmap_3d.cpp
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| costmap_cspace::Costmap3dLayerBase::Ptr layer; | ||
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| if (type == "Costmap3dLayerFootprint") |
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Add getName to Costmap3dLayer classes and make class loader. (or use ROS pluginlib)
costmap_cspace/src/costmap_3d.cpp
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| if (layer_xml.second["layer_linear_expand"].getType() == XmlRpc::XmlRpcValue::TypeDouble) | ||
| layer_linear_expand = static_cast<double>(layer_xml.second["layer_linear_expand"]); | ||
| if (layer_xml.second["layer_linear_spread"].getType() == XmlRpc::XmlRpcValue::TypeDouble) | ||
| layer_linear_spread = static_cast<double>(layer_xml.second["layer_linear_spread"]); |
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Read layer type specific parameters in each class.
costmap_cspace/src/costmap_3d.cpp
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| layer->setFootprint(footprint); | ||
| } | ||
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| sub_map_overlay_.push_back(nh_.subscribe<nav_msgs::OccupancyGrid>( |
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Subscribe data in each class to support non-OccupancyGrid message type.
PASSEDAll tests passed |
FAILEDTest failed |
at-wat
commented
Jan 24, 2018
| @@ -20,12 +20,9 @@ | |||
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| <arg name="goal_topic" default="/move_base_simple/goal" /> | |||
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| <node pkg="costmap_cspace" type="costmap_3d" name="costmap_3d" output="$(arg output_info)"> | |||
| <!--rosparam param="footprint" if="$(arg simulate)">[[0.12, -0.2], [0.12, 0.2], [-0.35, 0.2], [-0.35, -0.2]]</rosparam--> | |||
| <rosparam command="load" file="$(find neonavigation_launch)/config/navigate.yaml"/> | |||
PASSEDAll tests passed |
1 similar comment
PASSEDAll tests passed |
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It has been tested also on an actual robot. |
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