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[nav2_planner] Fix costmap thread reset on cleanup #3548

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Merged
merged 3 commits into from
May 2, 2023
Merged

[nav2_planner] Fix costmap thread reset on cleanup #3548

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d00a3b6
remove costmap thread reset on cleanup
BriceRenaudeau Apr 28, 2023
87cb174
Init costmap thread in on_configure method
BriceRenaudeau May 2, 2023
229ed78
Move costmap_thread init in on_configure method
BriceRenaudeau May 2, 2023
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4 changes: 2 additions & 2 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,6 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
"local_costmap", std::string{get_namespace()}, "local_costmap",
get_parameter("use_sim_time").as_bool());
// Launch a thread to run the costmap node
costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
}

ControllerServer::~ControllerServer()
Expand Down Expand Up @@ -124,6 +122,8 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
get_parameter("failure_tolerance", failure_tolerance_);

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

try {
progress_checker_type_ = nav2_util::get_plugin_type_param(node, progress_checker_id_);
Expand Down
5 changes: 3 additions & 2 deletions nav2_planner/src/planner_server.cpp
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Expand Up @@ -64,8 +64,6 @@ 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());
// Launch a thread to run the costmap node
costmap_thread_ = std::make_unique<nav2_util::NodeThread>(costmap_ros_);
}

PlannerServer::~PlannerServer()
Expand All @@ -86,6 +84,9 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
costmap_ros_->configure();
costmap_ = costmap_ros_->getCostmap();

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

RCLCPP_DEBUG(
get_logger(), "Costmap size: %d,%d",
costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY());
Expand Down