feat: amend topics
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ff7117c075
commit
dee3c6856b
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@ -16,3 +16,10 @@ build
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# Version control
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.svn
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.vscode/
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.idea/
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# Compiled files
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mpc_local_planner/cmake-build-debug/
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@ -143,13 +143,14 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
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nh.param("footprint_model/is_footprint_dynamic", _params.is_footprint_dynamic, _params.is_footprint_dynamic);
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nh.param("collision_avoidance/include_costmap_obstacles", _params.include_costmap_obstacles, _params.include_costmap_obstacles);
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nh.param("collision_avoidance/costmap_obstacles_behind_robot_dist", _params.costmap_obstacles_behind_robot_dist,
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nh.param("collision/include_costmap_obstacles", _params.include_costmap_obstacles, _params.include_costmap_obstacles);
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nh.param("collision/costmap_obstacles_behind_robot_dist", _params.costmap_obstacles_behind_robot_dist,
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_params.costmap_obstacles_behind_robot_dist);
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nh.param("collision_avoidance/collision_check_no_poses", _params.collision_check_no_poses, _params.collision_check_no_poses);
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nh.param("collision_avoidance/collision_check_min_resolution_angular", _params.collision_check_min_resolution_angular,
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nh.param("collision/collision_check_no_poses", _params.collision_check_no_poses, _params.collision_check_no_poses);
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nh.param("collision/collision_check_min_resolution_angular", _params.collision_check_min_resolution_angular,
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_params.collision_check_min_resolution_angular);
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ROS_INFO("collision/collision_check_no_poses:%d",_params.collision_check_no_poses);
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// 代价地图转换器插件相关参数
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nh.param("costmap_converter_plugin", _costmap_conv_params.costmap_converter_plugin, _costmap_conv_params.costmap_converter_plugin);
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@ -353,7 +354,7 @@ uint32_t MpcLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseSt
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// 修剪全局计划,剪掉机器人之前的部分
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pruneGlobalPlan(*_tf, robot_pose, _global_plan, _params.global_plan_prune_distance);
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// 修剪全局计划,剪掉机器人之前的部分
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// Convert To Local frame
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std::vector<geometry_msgs::PoseStamped> transformed_plan;
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int goal_idx;
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geometry_msgs::TransformStamped tf_plan_to_global;
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