Skip to content

Amrnav 6948 #95

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 4 commits into from
Apr 23, 2025
Merged

Amrnav 6948 #95

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
09244d5
add new costmap
AnastasiaPittel Apr 17, 2025
97cf2a6
Revert "add new costmap"
AnastasiaPittel Apr 17, 2025
6ec4a93
add new costmap to planner server
AnastasiaPittel Apr 17, 2025
c2493b1
missed
AnastasiaPittel Apr 23, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions nav2_planner/include/nav2_planner/planner_server.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -251,7 +251,9 @@ class PlannerServer : public nav2_util::LifecycleNode

// Global Costmap
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> no_waiting_costmap_ros_;
std::unique_ptr<nav2_util::NodeThread> costmap_thread_;
std::unique_ptr<nav2_util::NodeThread> no_waiting_costmap_thread_;
nav2_costmap_2d::Costmap2D * costmap_;
std::unique_ptr<nav2_costmap_2d::FootprintCollisionChecker<nav2_costmap_2d::Costmap2D *>>
collision_checker_;
Expand Down
11 changes: 11 additions & 0 deletions nav2_planner/src/planner_server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,10 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
"global_costmap", std::string{get_namespace()}, "global_costmap",
get_parameter("use_sim_time").as_bool(), options.use_intra_process_comms());

no_waiting_costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
"global_no_waiting_zones_costmap", std::string{get_namespace()}, "global_no_waiting_zones_costmap",
get_parameter("use_sim_time").as_bool(), options.use_intra_process_comms());
}

PlannerServer::~PlannerServer()
Expand All @@ -77,6 +81,7 @@ PlannerServer::~PlannerServer()
*/
planners_.clear();
costmap_thread_.reset();
no_waiting_costmap_thread_.reset();
}

nav2_util::CallbackReturn
Expand All @@ -85,6 +90,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
RCLCPP_INFO(get_logger(), "Configuring");

costmap_ros_->configure();
no_waiting_costmap_ros_->configure();
costmap_ = costmap_ros_->getCostmap();

if (!costmap_ros_->getUseRadius()) {
Expand All @@ -95,6 +101,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)

// Launch a thread to run the costmap node
costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
no_waiting_costmap_thread_ = std::make_unique<nav2_util::NodeThread>(no_waiting_costmap_ros_);

RCLCPP_DEBUG(
get_logger(), "Costmap size: %d,%d",
Expand Down Expand Up @@ -186,6 +193,7 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
plan_publisher_->on_activate();
action_server_pose_->activate();
action_server_poses_->activate();
no_waiting_costmap_ros_->activate();
const auto costmap_ros_state = costmap_ros_->activate();
if (costmap_ros_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
return nav2_util::CallbackReturn::FAILURE;
Expand Down Expand Up @@ -231,6 +239,7 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
* ordering assumption: https://github.com/ros2/rclcpp/issues/2096
*/
costmap_ros_->deactivate();
no_waiting_costmap_ros_->deactivate();

PlannerMap::iterator it;
for (it = planners_.begin(); it != planners_.end(); ++it) {
Expand All @@ -256,6 +265,7 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
tf_.reset();

costmap_ros_->cleanup();
no_waiting_costmap_ros_->cleanup();

PlannerMap::iterator it;
for (it = planners_.begin(); it != planners_.end(); ++it) {
Expand All @@ -264,6 +274,7 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)

planners_.clear();
costmap_thread_.reset();
no_waiting_costmap_thread_.reset();
costmap_ = nullptr;
return nav2_util::CallbackReturn::SUCCESS;
}
Expand Down
Loading