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update function load foot print

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This commit is contained in:
duongtd 2025-12-03 14:04:26 +07:00
parent 4fb2554291
commit f37bccd02f
2 changed files with 14 additions and 14 deletions
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26
src/costmap_2d_robot.cpp
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@ -92,19 +92,19 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
robot::Time last_error = robot::Time::now();
std::string tf_error;
// // we need to make sure that the transform between the robot base frame and the global frame is available
// while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time::now(), &tf_error))
// {
// if (last_error + robot::Duration(5.0) < robot::Time::now())
// {
// printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
// robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
// last_error = robot::Time::now();
// }
// // The error string will accumulate and errors will typically be the same, so the last
// // will do for the warning above. Reset the string here to avoid accumulation.
// tf_error.clear();
// }
// we need to make sure that the transform between the robot base frame and the global frame is available
while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time::now(), &tf_error))
{
if (last_error + robot::Duration(5.0) < robot::Time::now())
{
printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
last_error = robot::Time::now();
}
// The error string will accumulate and errors will typically be the same, so the last
// will do for the warning above. Reset the string here to avoid accumulation.
tf_error.clear();
}
// check if we want a rolling window version of the costmap
bool rolling_window, track_unknown_space;

2
test/static_layer_test.cpp
View File

@ -18,7 +18,7 @@ class CostmapTester : public testing::Test {
costmap_2d::Costmap2DROBOT costmap_ros_;
};
CostmapTester::CostmapTester(tf3::BufferCore& tf): costmap_ros_("costmap_global_params", tf){}
CostmapTester::CostmapTester(tf3::BufferCore& tf): costmap_ros_("costmap_params", tf){}
void CostmapTester::checkConsistentCosts(){
costmap_2d::Costmap2D* costmap = costmap_ros_.getCostmap();