From 7bf0f7f99647ba8cbc6b7c8add1bcc4a501de887 Mon Sep 17 00:00:00 2001
From: Autumn60 <37181352+Autumn60@users.noreply.github.com>
Date: Sun, 8 Sep 2024 01:10:49 +0900
Subject: [PATCH] Update costmap_generator.cpp

---
 .../booars_costmap_generator/src/costmap_generator.cpp    | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp b/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp
index 60b34007..a4d182b3 100644
--- a/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp
+++ b/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp
@@ -80,14 +80,14 @@ void CostmapGenerator::update()
 
   // Fill the costmap data
   {
+    PointStamped global_point;
+    global_point.header.frame_id = map_frame_;
+    global_point.header.stamp = costmap_time;
+    global_point.point.z = 0.0;
     for (int i = 0; i < costmap_parameters_->grid_num(); i++) {
       Point2d local_point = index_to_point_table_[i];
-      PointStamped global_point;
-      global_point.header.frame_id = map_frame_;
-      global_point.header.stamp = costmap_time;
       global_point.point.x = local_point[0] + costmap_center_position.x;
       global_point.point.y = local_point[1] + costmap_center_position.y;
-      global_point.point.z = 0.0;
       costmap_->data[i] = multi_layered_costmap_->is_occupied(global_point) ? 100 : 0;
     }
   }