AUTO-604 Fix using different frame for global and local costmap#8
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AUTO-604 Fix using different frame for global and local costmap#8
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Replace transformPlanPosesToCostmapFrame and getGlobalPlanConsideringBounds by getGlobalPlanConsideringBoundsInCostmapFrame
doisyg
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a team and
jayyoung
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Approved upstream, waiting for test to pass: ros-navigation#3425 |
scheunemann
approved these changes
Feb 24, 2023
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Mirror of nav2 PR: ros-navigation#3425
It is currently impossible to use a different global frame for the global and local costmap.
The use of
worldToMapto check if the pose is inside the costmap works only if the pose to check is referenced relative to the costmap frame: https://github.com/ros-planning/navigation2/blob/9dca1cfa60af9cdc4f6111db960bae72fd85b17c/nav2_mppi_controller/src/path_handler.cpp#L66Proposed fix is to replace
transformPlanPosesToCostmapFrameandgetGlobalPlanConsideringBoundsbygetGlobalPlanConsideringBoundsInCostmapFramein order not to have to transform the pose from the global plan/global costmap frame to the controller/local costmap frame twice.