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Upgrade collision monitor #39

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Upgrade collision monitor #39

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1a6054b
Update to jazzy
RBT22 Dec 10, 2024
68d5e43
Add array parser
RBT22 Dec 10, 2024
df01905
Revert 1594 twist stamped publisher
RBT22 Dec 10, 2024
c88f04e
Add PolygonInstance messages to replace missing geometry_msgs
RBT22 Dec 10, 2024
b5bcf2f
Remove unused real-time priority configuration from collision monitor
RBT22 Dec 10, 2024
90a2a54
Revert timer creation mode change
RBT22 Dec 10, 2024
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15 changes: 0 additions & 15 deletions nav2_collision_monitor/src/collision_monitor_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,21 +78,6 @@ CollisionMonitor::on_configure(const rclcpp_lifecycle::State & state)
collision_points_marker_pub_ = this->create_publisher<visualization_msgs::msg::MarkerArray>(
"~/collision_points_marker", 1);

auto node = shared_from_this();
nav2_util::declare_parameter_if_not_declared(
node, "use_realtime_priority", rclcpp::ParameterValue(false));
bool use_realtime_priority = false;
node->get_parameter("use_realtime_priority", use_realtime_priority);
if (use_realtime_priority) {
try {
nav2_util::setSoftRealTimePriority();
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why should this be deleted?

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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

} catch (const std::runtime_error & e) {
RCLCPP_ERROR(get_logger(), "%s", e.what());
on_cleanup(state);
return nav2_util::CallbackReturn::FAILURE;
}
}

return nav2_util::CallbackReturn::SUCCESS;
}

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