pr comments fixes

Signed-off-by: Tony Najjar <[email protected]>
ros-navigation · Aug 8, 2024 · 3f0c6c5 · 3f0c6c5
1 parent dbd4565
commit 3f0c6c5
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Showing 3 changed files with 12 additions and 9 deletions.
diff --git a/...avior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp b/...avior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp
@@ -54,12 +54,9 @@ class RemoveInCollisionGoals : public BtServiceNode<nav2_msgs::srv::GetCosts>
   {
     return providedBasicPorts({
         BT::InputPort<Goals>("input_goals", "Original goals to remove from"),
-        BT::InputPort<std::string>("costmap_cost_service",
-          "Service to get cost from costmap"),
-        BT::InputPort<double>("cost_threshold",
+        BT::InputPort<double>("cost_threshold", 254.0,
           "Cost threshold for considering a goal in collision"),
-        BT::InputPort<bool>("use_footprint",
-          "Whether to use footprint cost"),
+        BT::InputPort<bool>("use_footprint", true, "Whether to use footprint cost"),
         BT::OutputPort<Goals>("output_goals", "Goals with in-collision goals removed"),
     });
   }

diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -100,6 +100,14 @@
       <output_port name="output_goals">Set of goals after removing any passed</output_port>
     </Action>
 
+    <Action ID="RemoveInCollisionGoals">
+      <input_port name="service_name">Costmap service name responsible for getting the cost</input_port>
+      <input_port name="input_goals">A vector of goals to check if in collision</input_port>
+      <input_port name="use_footprint">Whether to use the footprint cost or the point cost.</input_port>
+      <input_port name="cost_threshold">The cost threshold above which a waypoint is considered in collision and should be removed.</input_port>
+      <output_port name="output_goals">A vector of goals containing only those that are not in collision.</output_port>
+    </Action>
+
     <Action ID="SmoothPath">
       <input_port name="smoother_id" default="SmoothPath"/>
       <input_port name="unsmoothed_path">Path to be smoothed</input_port>

diff --git a/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp b/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp
@@ -27,17 +27,15 @@ namespace nav2_behavior_tree
 RemoveInCollisionGoals::RemoveInCollisionGoals(
   const std::string & service_node_name,
   const BT::NodeConfiguration & conf)
-: BtServiceNode<nav2_msgs::srv::GetCosts>(service_node_name, conf),
-  use_footprint_(true),
-  cost_threshold_(253)
+: BtServiceNode<nav2_msgs::srv::GetCosts>(service_node_name, conf,
+    "/global_costmap/get_cost_global_costmap")
 {}
 
 
 void RemoveInCollisionGoals::on_tick()
 {
   getInput("use_footprint", use_footprint_);
   getInput("cost_threshold", cost_threshold_);
-
   getInput("input_goals", input_goals_);
 
   if (input_goals_.empty()) {