AUTO-604 Fix using different frame for global and local costmap #8
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Replace transformPlanPosesToCostmapFrame and getGlobalPlanConsideringBounds by getGlobalPlanConsideringBoundsInCostmapFrame
doisyg
requested review from
a team and
jayyoung
and removed request for
a team
|
Approved upstream, waiting for test to pass: ros-navigation#3425 |
scheunemann
approved these changes
Feb 24, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Mirror of nav2 PR: ros-navigation#3425
It is currently impossible to use a different global frame for the global and local costmap.
The use of
worldToMapto check if the pose is inside the costmap works only if the pose to check is referenced relative to the costmap frame: https://github.com/ros-planning/navigation2/blob/9dca1cfa60af9cdc4f6111db960bae72fd85b17c/nav2_mppi_controller/src/path_handler.cpp#L66Proposed fix is to replace
transformPlanPosesToCostmapFrameandgetGlobalPlanConsideringBoundsbygetGlobalPlanConsideringBoundsInCostmapFramein order not to have to transform the pose from the global plan/global costmap frame to the controller/local costmap frame twice.