add VelocityPolygon to detector node

Signed-off-by: nelson <[email protected]>
ros-navigation · Jan 7, 2024 · 898d8c0 · 898d8c0
1 parent 620c7c2
commit 898d8c0
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diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp
@@ -33,6 +33,7 @@
 #include "nav2_collision_monitor/types.hpp"
 #include "nav2_collision_monitor/polygon.hpp"
 #include "nav2_collision_monitor/circle.hpp"
+#include "nav2_collision_monitor/velocity_polygon.hpp"
 #include "nav2_collision_monitor/source.hpp"
 #include "nav2_collision_monitor/scan.hpp"
 #include "nav2_collision_monitor/pointcloud.hpp"

diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -207,6 +207,10 @@ bool CollisionDetector::configurePolygons(
         polygons_.push_back(
           std::make_shared<Circle>(
             node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance));
+      } else if (polygon_type == "velocity_polygon") {
+        polygons_.push_back(
+          std::make_shared<VelocityPolygon>(
+            node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance));
       } else {  // Error if something else
         RCLCPP_ERROR(
           get_logger(),