adding plugin type for static in local + removing unused print (#3021)

ros-navigation · Jun 16, 2022 · 0e287c1 · 0e287c1
1 parent 7da7282
commit 0e287c1
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Showing 2 changed files with 1 addition and 13 deletions.
diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -196,19 +196,6 @@ class TimedBehavior : public nav2_core::Behavior
       return;
     }
 
-    // Log a message every second
-    {
-      auto node = node_.lock();
-      if (!node) {
-        throw std::runtime_error{"Failed to lock node"};
-      }
-
-      auto timer = node->create_wall_timer(
-        1s,
-        [&]()
-        {RCLCPP_INFO(logger_, "%s running...", behavior_name_.c_str());});
-    }
-
     auto start_time = steady_clock_.now();
 
     // Initialize the ActionT result

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -214,6 +214,7 @@ local_costmap:
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0
       static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
       always_send_full_costmap: True