fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (ros-navigation#4507)

bektaskemal · Kemal Bektas · stevedanomodolor · commit f38dd462aadf · 2025-04-29T21:10:00.000+02:00
Signed-off-by: Kemal Bektas &lt;kemal.bektas@node-robotics.com&gt;
Co-authored-by: Kemal Bektas &lt;kemal.bektas@node-robotics.com&gt;
Signed-off-by: stevedanomodolor &lt;stevedan.o.omodolor@gmail.com&gt;
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -307,8 +307,11 @@ ObstacleLayer::dynamicParametersCallback(
         max_obstacle_height_ = parameter.as_double();
       }
     } else if (param_type == ParameterType::PARAMETER_BOOL) {
-      if (param_name == name_ + "." + "enabled") {
+      if (param_name == name_ + "." + "enabled" && enabled_ != parameter.as_bool()) {
         enabled_ = parameter.as_bool();
+        if (enabled_) {
+          current_ = false;
+        }
       } else if (param_name == name_ + "." + "footprint_clearing_enabled") {
         footprint_clearing_enabled_ = parameter.as_bool();
       }

Original file line number	Diff line number	Diff line change
`@@ -307,8 +307,11 @@ ObstacleLayer::dynamicParametersCallback(`
`307`	`307`	`max_obstacle_height_ = parameter.as_double();`
`308`	`308`	`}`
`309`	`309`	`} else if (param_type == ParameterType::PARAMETER_BOOL) {`
`310`		`- if (param_name == name_ + "." + "enabled") {`
	`310`	`+ if (param_name == name_ + "." + "enabled" && enabled_ != parameter.as_bool()) {`
`311`	`311`	`enabled_ = parameter.as_bool();`
	`312`	`+ if (enabled_) {`
	`313`	`+ current_ = false;`
	`314`	`+ }`
`312`	`315`	`} else if (param_name == name_ + "." + "footprint_clearing_enabled") {`
`313`	`316`	`footprint_clearing_enabled_ = parameter.as_bool();`
`314`	`317`	`}`