Upgrade collision monitor #39
Conversation
| node->get_parameter("use_realtime_priority", use_realtime_priority); | ||
| if (use_realtime_priority) { | ||
| try { | ||
| nav2_util::setSoftRealTimePriority(); |
There was a problem hiding this comment.
why should this be deleted?
There was a problem hiding this comment.
I didn't want to backport that function in this PR but I'm open to discussion it is just a few lines after all xd
| @@ -82,7 +82,7 @@ CollisionDetector::on_activate(const rclcpp_lifecycle::State & /*state*/) | |||
| } | |||
|
|
|||
| // Creating timer | |||
| timer_ = this->create_timer( | |||
| timer_ = this->create_wall_timer( | |||
There was a problem hiding this comment.
There is no node method in humble called create_timer.. that is only for jazzy
There is a rclcpp::create_timer but the original in humble is this->create_wall_timer()
| * | ||
| * On error, error_return is set and the return value could be | ||
| * anything, like part of a successful parse. */ | ||
| std::vector<std::vector<float>> parseVVF(const std::string & input, std::string & error_return); |
There was a problem hiding this comment.
is this needed? what's the problem with the current parsing mode?
There was a problem hiding this comment.
I think it is way more readable and this method is present in the stack, just has not been moved in humble to nav2_utils from the nav2_costmap yet. And also i wanted to avoid adding hand written code to the sync. As there was a restructuring, I think it is better to use the new way simply.
This PR aims to provide the feature set of the rolling branch for the collision_monitor.
We diverge from the nav2 humble branch and also there are some other modification to make this work:
PolygonInstanceandPolygonInstanceStamped. These are new msg definitions in geometry_msgs on rolling