fix(nav2_costmap_2d): make obstacle layer not current on enabled togg…

…le (#4507) Signed-off-by: Kemal Bektas <[email protected]> Co-authored-by: Kemal Bektas <[email protected]>
ros-navigation · Jul 3, 2024 · cc9e011 · cc9e011
1 parent 96f1579
commit cc9e011
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -307,8 +307,11 @@ ObstacleLayer::dynamicParametersCallback(
         max_obstacle_height_ = parameter.as_double();
       }
     } else if (param_type == ParameterType::PARAMETER_BOOL) {
-      if (param_name == name_ + "." + "enabled") {
+      if (param_name == name_ + "." + "enabled" && enabled_ != parameter.as_bool()) {
         enabled_ = parameter.as_bool();
+        if (enabled_) {
+          current_ = false;
+        }
       } else if (param_name == name_ + "." + "footprint_clearing_enabled") {
         footprint_clearing_enabled_ = parameter.as_bool();
       }