- Removed added empty line

- Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <[email protected]>
ros-navigation · Mar 16, 2024 · 1bfb42e · 1bfb42e
1 parent bfa9184
commit 1bfb42e
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -214,9 +214,9 @@ class AmclNode : public nav2_util::LifecycleNode
   // service server for providing an initial pose guess
   rclcpp::Service<nav2_msgs::srv::SetInitialPose>::SharedPtr initial_guess_srv_;
   /*
-   * @brief Service callback for a global relocalization request
+   * @brief Service callback for an initial pose guess request
    */
-  void initialGuessCallback(
+  void initialPoseReceivedSrv(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> request,
     std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response> response);
@@ -234,7 +234,6 @@ class AmclNode : public nav2_util::LifecycleNode
   // Nomotion update control. Used to temporarily let amcl update samples even when no motion occurs
   std::atomic<bool> force_update_{false};
 
-
   // Odometry
   /*
    * @brief Initialize odometry

diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -325,6 +325,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   // Get rid of the inputs first (services and message filter input), so we
   // don't continue to process incoming messages
   global_loc_srv_.reset();
+  initial_guess_srv_.reset();
   nomotion_update_srv_.reset();
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
@@ -495,12 +496,11 @@ AmclNode::globalLocalizationCallback(
 }
 
 void
-AmclNode::initialGuessCallback(
+AmclNode::initialPoseReceivedSrv(
   const std::shared_ptr<rmw_request_id_t>/*request_header*/,
   const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> req,
   std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response>/*res*/)
 {
-  std::lock_guard<std::recursive_mutex> cfl(mutex_);
   initialPoseReceived(std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>(req->pose));
 }
 

diff --git a/nav2_msgs/srv/SetInitialPose.srv b/nav2_msgs/srv/SetInitialPose.srv
@@ -1,2 +1,2 @@
 geometry_msgs/PoseWithCovarianceStamped pose
----
+---