docs for changes to behavior server#360
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SteveMacenski merged 7 commits intoros-navigation:masterfrom Dec 13, 2022
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Assuming the original PR is right, this LGTM, but I think there will be some changes in the original PR or maybe even closed in general since an easier solution is just having 2 instances of the behavior server: one global and other local set with global/local costmap/footprint/frame settings.
SteveMacenski
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Dec 12, 2022
migration/Humble.rst
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| To update behaviors, any reference to the global_frame must be updated to the local_frame parameter | ||
| along with the ``configuration`` method which now takes in the local and global collision checkers. | ||
| Lastly, ``getResourceInfo`` must be overriden to return ``CostmapInfoType::LOCAL``. |
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Other options include GLOBAL (if uses theglobal costmap and/or footprint) or BOTH if both are required. This allows us to only create and maintain the minimum amount of expensive resources as required.
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December 13, 2022 10:25
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Documentation changes for adding a global costmap collision checker to the behavior server.