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Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap #3356

Merged
merged 2 commits into from
Jan 10, 2023
Merged

Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap #3356

merged 2 commits into from
Jan 10, 2023

Commits on Jan 10, 2023

  1. Do only consider enabled costmap plugins/filters in the isCurrent() m… 

    …ethod of a LayeredCostmap

When clearing entirely a costmap (see the `clear_entirely_*` service),
its layers are reset. This sets their `current_` attribute to False,
until they are updated (`updateCosts()`). However, for disabled
plugins/filters, the `updateCosts()` is bypassed so that the `current_`
attribute is never reset to True, and the costmap never becomes
"current" again; because of that the controller_server used to get stuck
in an endless loop (see `while (!costmap_ros_->isCurrent())`
in `ControllerServer::computeControl()`).

This patch fixes that by adding a condition for not considering disabled
plugins/filters in the `LayeredCostmap::isCurrent()`.
    @milidam
    milidam committed Jan 10, 2023
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  2. Add forgotten Layer::isEnabled() definition

    @milidam
    milidam committed Jan 10, 2023
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