fixes

Signed-off-by: Tony Najjar <[email protected]>

nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp

@@ -55,14 +55,6 @@ void RemoveInCollisionGoals::on_tick()
 BT::NodeStatus RemoveInCollisionGoals::on_completion(
   std::shared_ptr<nav2_msgs::srv::GetCosts::Response> response)
 {
-  for (size_t i = 0; i < input_goals_.size(); ++i) {
-    double yaw = tf2::getYaw(input_goals_[i].pose.orientation);
-    RCLCPP_INFO(
-      node_->get_logger(),
-      "Goal %ld: x: %f, y: %f, yaw: %f, costs: %f", i,
-      input_goals_[i].pose.position.x, input_goals_[i].pose.position.y, yaw, response->costs[i]);
-  }
-
   Goals valid_goal_poses;
   for (size_t i = 0; i < response->costs.size(); ++i) {
     if ((response->costs[i] == 255 && !consider_unknown_as_obstacle_) ||
@@ -71,9 +63,9 @@ BT::NodeStatus RemoveInCollisionGoals::on_completion(
       valid_goal_poses.push_back(input_goals_[i]);
     }
   }
-  // Warn if all goals have been removed
+  // Inform if all goals have been removed
   if (valid_goal_poses.empty()) {
-    RCLCPP_WARN(
+    RCLCPP_INFO(
       node_->get_logger(),
       "All goals are in collision and have been removed from the list");
   }

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -843,7 +843,7 @@ void Costmap2DROS::getCostsCallback(
       pose_transformed.pose.position.y, mx, my);
 
     if (!in_bounds) {
-      response->costs.push_back(costmap->getDefaultValue());
+      response->costs.push_back(NO_INFORMATION);
       continue;
     }
     double yaw = tf2::getYaw(pose_transformed.pose.orientation);

nav2_costmap_2d/src/layered_costmap.cpp

@@ -72,11 +72,11 @@ LayeredCostmap::LayeredCostmap(std::string global_frame, bool rolling_window, bo
   footprint_(std::make_shared<std::vector<geometry_msgs::msg::Point>>())
 {
   if (track_unknown) {
-    primary_costmap_.setDefaultValue(255);
-    combined_costmap_.setDefaultValue(255);
+    primary_costmap_.setDefaultValue(NO_INFORMATION);
+    combined_costmap_.setDefaultValue(NO_INFORMATION);
   } else {
-    primary_costmap_.setDefaultValue(0);
-    combined_costmap_.setDefaultValue(0);
+    primary_costmap_.setDefaultValue(FREE_SPACE);
+    combined_costmap_.setDefaultValue(FREE_SPACE);
   }
 }