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chore(booars_costmap_generator): fix var scope in costmap_generator #37

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Sep 9, 2024
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chore(booars_costmap_generator): fix var scope in costmap_generator #37

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8 changes: 4 additions & 4 deletions ...rkspace/src/aichallenge_submit/costmap/booars_costmap_generator/src/costmap_generator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
}
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