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Bugfix inactive publishers #5748

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Merged
SteveMacenski merged 8 commits into from
Dec 31, 2025
Merged

Bugfix inactive publishers #5748

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c7a966e
Do not publish costmap unless active
Dec 1, 2025
39a43c2
Fix style
Dec 1, 2025
b00b6a9
Fix typo
Dec 1, 2025
c016551
Merge branch 'ros-navigation:main' into bugfix-inactive-publishers
pele1410 Dec 30, 2025
6a293e3
Use layers isEnabled() to prevent publishing
Dec 30, 2025
036e198
Fix style
Dec 30, 2025
b4d6f15
Add missing include for CostmapLayer type
Dec 30, 2025
1adfe92
Remove extra scoping
Dec 31, 2025
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13 changes: 2 additions & 11 deletions nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,19 +123,11 @@ class Costmap2DPublisher
}

/**
* @brief Publishes the visualization data over ROS
* @brief Publishes the visualization data over ROS
* @note Only publishes when the associated layer is enabled
*/
void publishCostmap();

/**
* @brief Check if the publisher is active
* @return True if the frequency for the publisher is non-zero, false otherwise
*/
bool active()
{
return active_;
}

private:
/** @brief Prepare grid_ message for publication. */
void prepareGrid();
Expand Down Expand Up @@ -166,7 +158,6 @@ class Costmap2DPublisher
unsigned int x0_, xn_, y0_, yn_;
double saved_origin_x_;
double saved_origin_y_;
bool active_;
bool always_send_full_costmap_;
double map_vis_z_;

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9 changes: 8 additions & 1 deletion nav2_costmap_2d/src/costmap_2d_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
* David V. Lu!!
*********************************************************************/
#include "nav2_costmap_2d/costmap_2d_publisher.hpp"
#include "nav2_costmap_2d/costmap_layer.hpp"

#include <string>
#include <memory>
Expand All @@ -59,7 +60,6 @@ Costmap2DPublisher::Costmap2DPublisher(
: costmap_(costmap),
global_frame_(global_frame),
topic_name_(topic_name),
active_(false),
always_send_full_costmap_(always_send_full_costmap),
map_vis_z_(map_vis_z)
{
Expand Down Expand Up @@ -236,6 +236,13 @@ std::unique_ptr<nav2_msgs::msg::CostmapUpdate> Costmap2DPublisher::createCostmap

void Costmap2DPublisher::publishCostmap()
{
{
auto const costmap_layer = dynamic_cast<CostmapLayer *>(costmap_);
if (costmap_layer != nullptr && !costmap_layer->isEnabled()) {
return;
}
}

float resolution = costmap_->getResolution();
if (always_send_full_costmap_ || grid_resolution_ != resolution ||
grid_width_ != costmap_->getSizeInCellsX() ||
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