AUTO-604 Fix using different frame for global and local costmap #8
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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
worldToMap
to 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
transformPlanPosesToCostmapFrame
andgetGlobalPlanConsideringBounds
bygetGlobalPlanConsideringBoundsInCostmapFrame
in order not to have to transform the pose from the global plan/global costmap frame to the controller/local costmap frame twice.