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

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merged 1 commit into from
Jun 16, 2022
Merged

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

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13 changes: 0 additions & 13 deletions nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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1 change: 1 addition & 0 deletions nav2_bringup/params/nav2_params.yaml
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Expand Up @@ -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

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