Update footprint iif changed

ros-navigation · Mar 18, 2024 · dcb060b · dcb060b
1 parent aa849ae
commit dcb060b
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Showing 5 changed files with 11 additions and 2 deletions.
diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
@@ -73,7 +73,7 @@ class AnalyticExpansion
    * @brief Sets the collision checker and costmap to use in expansion validation
    * @param collision_checker Collision checker to use
    */
-  void setCollisionChecker(GridCollisionChecker * & collision_checker);
+  void setCollisionChecker(GridCollisionChecker * collision_checker);
 
   /**
    * @brief Attempt an analytic path completion

diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp
@@ -41,7 +41,7 @@ AnalyticExpansion<NodeT>::AnalyticExpansion(
 
 template<typename NodeT>
 void AnalyticExpansion<NodeT>::setCollisionChecker(
-  GridCollisionChecker * & collision_checker)
+  GridCollisionChecker * collision_checker)
 {
   _collision_checker = collision_checker;
 }

diff --git a/nav2_smac_planner/src/collision_checker.cpp b/nav2_smac_planner/src/collision_checker.cpp
@@ -66,6 +66,7 @@ void GridCollisionChecker::setFootprint(
     return;
   }
 
+  oriented_footprints_.clear();
   oriented_footprints_.reserve(angles_.size());
   double sin_th, cos_th;
   geometry_msgs::msg::Point new_pt;

diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -338,6 +338,10 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan(
   }
 
   // Set collision checker and costmap information
+  _collision_checker.setFootprint(
+    _costmap_ros->getRobotFootprint(),
+    _costmap_ros->getUseRadius(),
+    findCircumscribedCost(_costmap_ros));
   _a_star->setCollisionChecker(&_collision_checker);
 
   // Set starting point, in A* bin search coordinates

diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -274,6 +274,10 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan(
   std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(_costmap->getMutex()));
 
   // Set collision checker and costmap information
+  _collision_checker.setFootprint(
+    _costmap_ros->getRobotFootprint(),
+    _costmap_ros->getUseRadius(),
+    findCircumscribedCost(_costmap_ros));
   _a_star->setCollisionChecker(&_collision_checker);
 
   // Set starting point, in A* bin search coordinates