Costmap_2d Static & Inflation plugin layer port & Removing Boost dependencies #129
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added 3 commits
October 2, 2018 15:55
crdelsey
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Oct 2, 2018
src/libs/costmap_2d/package.xml
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| @@ -42,6 +42,7 @@ | |||
| <depend>xmlrpcpp</depend> | |||
| <depend>pluginlib</depend> | |||
| <depend>libpcl-all-dev</depend> | |||
| <depend>message_filters</depend> | |||
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I'm not sure why my formatting keeps getting off on these files (package.xml & CMakeLists.txt), I have to keep fixing this. Does opening it in gedit somehow autofix the formatting?
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I wouldn't think so, but I'd recommend a 'real' editor as you main choice anyhow. Then you can configure it to do the right thing.
| ros::NodeHandle nh("~/" + name_), g_nh; | ||
| auto nh = rclcpp::Node::make_shared(name_); | ||
| rclcpp::Node::SharedPtr g_nh; | ||
| auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(nh); |
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You can just use the parameter_client built into the node.
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I made an issue for this in #119. I was planning to make this replacement all in one PR.
| @@ -59,9 +61,13 @@ unsigned int countValues(costmap_2d::Costmap2D & costmap, unsigned char value, b | |||
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| void addStaticLayer(costmap_2d::LayeredCostmap & layers, tf2_ros::Buffer & tf) | |||
| { | |||
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No need for all these blank lines.
| @@ -62,72 +63,68 @@ StaticLayer::~StaticLayer() | |||
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| void StaticLayer::onInitialize() | |||
| { | |||
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src/libs/costmap_2d/CMakeLists.txt
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| add_library(layers | ||
| plugins/inflation_layer.cpp | ||
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| # TODO(bpwilcox): port additional plugin layers | ||
| #plugins/static_layer.cpp | ||
| # TODO(bpwilcox): port additional plugin layers |
mjeronimo
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Oct 3, 2018
more spacing fixes one more line fix
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crdelsey
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* [AMRFM-958] Renamed agv_gazebo -> amr_gazebo * [AMRFM-958] Renamed AgvError and AssignBinToAgv * gazebo entity rename Co-authored-by: HovorunB <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> Co-authored-by: Tony Najjar <[email protected]>
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In this PR, the static layer & inflation layer plugins have been ported and compile properly. After a manual inspection of the plugins, they appear to work fine and generate reasonable results, though some additional work needs to be done in order to incorporate the plugins properly in the Costmap2DROS class (particularly with parameters).
Some intial work on the observation buffer was done but was blocked from completion until tf2_sensor_msgs is also ported (will file an issue).
Also, Boost dependencies have been removed from costmap_2d.