HiepLM/pnkx_nav_core
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update

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HiepLM
2026-03-04 09:43:39 +00:00
parent a1cc2fccb1
commit 4617ce85b6
12 changed files with 177 additions and 66 deletions
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4
src/Navigations/Packages/move_base/src/move_base.cpp
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@@ -527,8 +527,7 @@ void move_base::MoveBase::addLaserScan(const std::string &laser_scan_name, robot
// for (size_t i = 0; i < laser_scan.intensities.size(); i++) {
// intensities_str << laser_scan.intensities[i] << " ";
// }
// robot::log_info("intensities: %s", intensities_str.str().c_str());
// robot::log_info("--------------------------------");
// robot::log_error("intensities: %s", intensities_str.str().c_str());
updateLocalCostmap<robot_sensor_msgs::LaserScan>(laser_scan, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
updateGlobalCostmap<robot_sensor_msgs::LaserScan>(laser_scan, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
@@ -2198,7 +2197,6 @@ void move_base::MoveBase::planThread()
// if we didn't get a plan and we are in the planning state (the robot isn't moving)
else if (state_ == move_base::PLANNING)
{
robot::log_info("No Plan...");
robot::Time attempt_end = last_valid_plan_ + robot::Duration(planner_patience_);
// check if we've tried to make a plan for over our time limit or our maximum number of retries