Add alternative API for costmap construction

Signed-off-by: Luca Della Vedova <[email protected]>
ros-navigation · Nov 20, 2024 · 857b610 · 857b610
1 parent e0b4089
commit 857b610
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Showing 3 changed files with 23 additions and 7 deletions.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -89,6 +89,18 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   explicit Costmap2DROS(const std::string & name, const bool & use_sim_time = false);
 
+  /**
+   * @brief  Constructor for the wrapper, the node will
+   * be placed in a namespace equal to the parent_namespace and the node's name
+   * @param name Name of the costmap ROS node
+   * @param name Absolute namespace of the node hosting the costmap node
+   * @param use_sim_time Whether to use simulation or real time
+   */
+  explicit Costmap2DROS(
+    const std::string & name,
+    const std::string & parent_namespace,
+    const bool & use_sim_time = false);
+
   /**
    * @brief  Constructor for the wrapper
    * @param name Name of the costmap ROS node

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -75,6 +75,12 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
   init();
 }
 
+Costmap2DROS::Costmap2DROS(
+  const std::string & name,
+  const std::string & parent_namespace,
+  const bool & use_sim_time)
+: Costmap2DROS(name, parent_namespace, name, use_sim_time) {}
+
 Costmap2DROS::Costmap2DROS(
   const std::string & name,
   const std::string & parent_namespace,

diff --git a/nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp b/nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp
@@ -125,10 +125,8 @@ TEST(ObstacleFootprint, Prepare)
 
   auto node = nav2_util::LifecycleNode::make_shared("costmap_tester");
 
-  std::string costmap_name = "test_global_costmap";
   std::string ns = "/ns";
-  auto costmap_ros =
-    std::make_shared<nav2_costmap_2d::Costmap2DROS>(costmap_name, ns, costmap_name, false);
+  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap", ns);
   costmap_ros->configure();
 
   std::string name = "name";
@@ -187,11 +185,11 @@ TEST(ObstacleFootprint, PointCost)
 
   auto node = nav2_util::LifecycleNode::make_shared("costmap_tester");
 
-  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap");
+  std::string ns = "/ns";
+  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap", ns);
   costmap_ros->configure();
 
   std::string name = "name";
-  std::string ns = "ns";
   critic->initialize(node, name, ns, costmap_ros);
 
   costmap_ros->getCostmap()->setCost(0, 0, nav2_costmap_2d::LETHAL_OBSTACLE);
@@ -210,11 +208,11 @@ TEST(ObstacleFootprint, LineCost)
 
   auto node = nav2_util::LifecycleNode::make_shared("costmap_tester");
 
-  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap");
+  std::string ns = "/ns";
+  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap", ns);
   costmap_ros->configure();
 
   std::string name = "name";
-  std::string ns = "ns";
   critic->initialize(node, name, ns, costmap_ros);
 
   costmap_ros->getCostmap()->setCost(3, 3, nav2_costmap_2d::LETHAL_OBSTACLE);