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fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle #4507

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merged 1 commit into from
Jul 3, 2024
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fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle #4507

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5 changes: 4 additions & 1 deletion nav2_costmap_2d/plugins/obstacle_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -307,8 +307,11 @@
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;

Check warning on line 313 in nav2_costmap_2d/plugins/obstacle_layer.cpp

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nav2_costmap_2d/plugins/obstacle_layer.cpp#L313 

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}
} else if (param_name == name_ + "." + "footprint_clearing_enabled") {
footprint_clearing_enabled_ = parameter.as_bool();
}
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