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Changing costmap_ros to optional parameter.

master
Alexander Xydes 2020-03-07 08:41:32 -08:00
parent bb30d27d3a
commit 0221bc3f8d
2 changed files with 3 additions and 3 deletions
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4
mpc_local_planner/include/mpc_local_planner/mpc_local_planner_ros.h
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@ -189,14 +189,14 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
* @param costmap_ros reference to an intialized instance of costmap_2d::Costmap2dROS * @param costmap_ros reference to an intialized instance of costmap_2d::Costmap2dROS
* @return Robot footprint model used for optimization * @return Robot footprint model used for optimization
*/ */
static RobotFootprintModelPtr getRobotFootprintFromParamServer(const ros::NodeHandle& nh, costmap_2d::Costmap2DROS* costmap_ros); static RobotFootprintModelPtr getRobotFootprintFromParamServer(const ros::NodeHandle& nh, costmap_2d::Costmap2DROS* costmap_ros = nullptr);
/** /**
* @brief Get the current robot footprint/contour model * @brief Get the current robot footprint/contour model
* @param costmap_ros reference to an intialized instance of costmap_2d::Costmap2dROS * @param costmap_ros reference to an intialized instance of costmap_2d::Costmap2dROS
* @return Robot footprint model used for optimization * @return Robot footprint model used for optimization
*/ */
static RobotFootprintModelPtr getRobotFootprintFromCostmap2d(costmap_2d::Costmap2DROS* costmap_ros); static RobotFootprintModelPtr getRobotFootprintFromCostmap2d(costmap_2d::Costmap2DROS* costmap_ros = nullptr);
/** /**
* @brief Set the footprint from the given XmlRpcValue. * @brief Set the footprint from the given XmlRpcValue.

2
mpc_local_planner/src/test_mpc_optim_node.cpp
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@ -91,7 +91,7 @@ void TestMpcOptimNode::start(ros::NodeHandle& nh)
ros::Subscriber via_points_sub = nh.subscribe("via_points", 1, &TestMpcOptimNode::CB_via_points, this); ros::Subscriber via_points_sub = nh.subscribe("via_points", 1, &TestMpcOptimNode::CB_via_points, this);
// Setup robot shape model // Setup robot shape model
teb_local_planner::RobotFootprintModelPtr robot_model = mpc_local_planner::MpcLocalPlannerROS::getRobotFootprintFromParamServer(nh, nullptr); teb_local_planner::RobotFootprintModelPtr robot_model = mpc_local_planner::MpcLocalPlannerROS::getRobotFootprintFromParamServer(nh);
mpc_local_planner::Controller controller; mpc_local_planner::Controller controller;
if (!controller.configure(nh, _obstacles, robot_model, _via_points)) if (!controller.configure(nh, _obstacles, robot_model, _via_points))