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Collision Monitor fixups #3696

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merged 1 commit into from
Jul 13, 2023
Merged

Collision Monitor fixups #3696

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1 change: 0 additions & 1 deletion nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@
#include "tf2_ros/transform_listener.h"

#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/robot_utils.hpp"
#include "nav2_msgs/msg/collision_monitor_state.hpp"

#include "nav2_collision_monitor/types.hpp"
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2 changes: 1 addition & 1 deletion nav2_collision_monitor/params/collision_monitor_params.yaml
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Expand Up @@ -34,7 +34,7 @@ collision_monitor:
type: "polygon"
points: [0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5]
action_type: "limit"
max_points: 3
min_points: 4
linear_limit: 0.4
angular_limit: 0.5
visualize: True
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1 change: 1 addition & 0 deletions nav2_collision_monitor/src/collision_monitor_node.cpp
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Expand Up @@ -21,6 +21,7 @@
#include "tf2_ros/create_timer_ros.h"

#include "nav2_util/node_utils.hpp"
#include "nav2_util/robot_utils.hpp"

#include "nav2_collision_monitor/kinematics.hpp"

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12 changes: 0 additions & 12 deletions nav2_util/include/nav2_util/robot_utils.hpp
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Expand Up @@ -59,18 +59,6 @@ bool transformPoseInTargetFrame(
tf2_ros::Buffer & tf_buffer, const std::string target_frame,
const double transform_timeout = 0.1);

/**
* @brief Obtains a transform from source_frame_id at source_time ->
* to target_frame_id at target_time time
* @param source_frame_id Source frame ID to convert from
* @param source_time Source timestamp to convert from
* @param target_frame_id Target frame ID to convert to
* @param target_time Target time to interpolate to
* @param transform_tolerance Transform tolerance
* @param tf_transform Output source->target transform
* @return True if got correct transform, otherwise false
*/

/**
* @brief Obtains a transform from source_frame_id -> to target_frame_id
* @param source_frame_id Source frame ID to convert from
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