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Fix costmap on_cleanup issues [eloquent-devel] #1431

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Merged
merged 2 commits into from
Dec 12, 2019
Merged

Fix costmap on_cleanup issues [eloquent-devel] #1431

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7341383
remove undeclareParameters in reset, remove reset layers in cleanup, …
Dec 11, 2019
08f508a
remove check for parameters after reset in obstacle_tests
Dec 11, 2019
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1 change: 0 additions & 1 deletion nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,6 @@ class InflationLayer : public Layer

virtual void reset()
{
undeclareAllParameters();
onInitialize();
}

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1 change: 0 additions & 1 deletion nav2_costmap_2d/plugins/obstacle_layer.cpp
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Expand Up @@ -655,7 +655,6 @@ ObstacleLayer::reset()
resetMaps();
current_ = true;
activate();
undeclareAllParameters();
}

} // namespace nav2_costmap_2d
1 change: 0 additions & 1 deletion nav2_costmap_2d/plugins/static_layer.cpp
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Expand Up @@ -125,7 +125,6 @@ StaticLayer::reset()
map_sub_.reset();
map_update_sub_.reset();

undeclareAllParameters();
onInitialize();
}

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1 change: 0 additions & 1 deletion nav2_costmap_2d/plugins/voxel_layer.cpp
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Expand Up @@ -171,7 +171,6 @@ void VoxelLayer::reset()
deactivate();
resetMaps();
activate();
undeclareAllParameters();
voxel_pub_->on_activate();
}

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2 changes: 1 addition & 1 deletion nav2_costmap_2d/src/costmap_2d_ros.cpp
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Expand Up @@ -249,7 +249,7 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Cleaning up");

resetLayers();
param_subscriber_.reset();
delete layered_costmap_;
layered_costmap_ = nullptr;

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12 changes: 1 addition & 11 deletions nav2_costmap_2d/test/integration/obstacle_tests.cpp
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Expand Up @@ -357,20 +357,10 @@ TEST_F(TestNode, testRepeatedResets) {
return plugin->hasParameter(layer_param);
}));

// Reset all layers. This will un-declare all params and might re-declare internal ones
// Reset all layers. Parameters should be declared if not declared, otherwise skipped.
// Should run without throwing exceptions
ASSERT_NO_THROW(
for_each(begin(*plugins), end(*plugins), [](const auto & plugin) {
plugin->reset();
}));

// Check for node-level param
ASSERT_TRUE(node_->has_parameter(node_dummy.first));

// Layer-level parameters shouldn't be found
ASSERT_TRUE(
none_of(begin(*plugins), end(*plugins), [&layer_dummy](const auto & plugin) {
string layer_param = layer_dummy.first + "_" + plugin->getName();
return plugin->hasParameter(layer_param);
}));
}