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Fix 3744 #3745

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Merged
SteveMacenski merged 11 commits into from
Sep 11, 2023
Merged

Fix 3744 #3745

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0571559
Update collision_monitor_params.yaml
nakai-omer Aug 7, 2023
be231c5
Update collision_monitor_node.cpp
nakai-omer Aug 7, 2023
6c74c0f
Update default topics in collision_monitor_node.cpp
nakai-omer Aug 16, 2023
cec326e
Update default topics in collision_monitor_params.yaml
nakai-omer Aug 16, 2023
efa2562
Update collision_monitor_params.yaml
nakai-omer Aug 7, 2023
c30a3a7
Update collision_monitor_node.cpp
nakai-omer Aug 7, 2023
bba3502
Update default topics in collision_monitor_node.cpp
nakai-omer Aug 16, 2023
dde37ad
Update default topics in collision_monitor_params.yaml
nakai-omer Aug 16, 2023
7c90596
Merge branch 'main' of github.com:ros-planning/navigation2 into fix-3744
nakai-omer Sep 6, 2023
16cc010
Merge branch 'fix-3744' of github.com:nakai-omer/navigation2 into fix…
nakai-omer Sep 10, 2023
336c035
Merge branch 'main' of github.com:ros-planning/navigation2 into fix-3744
nakai-omer Sep 10, 2023
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2 changes: 1 addition & 1 deletion nav2_collision_monitor/params/collision_monitor_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ collision_monitor:
ros__parameters:
base_frame_id: "base_footprint"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_raw"
cmd_vel_in_topic: "cmd_vel_smoothed"
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SteveMacenski marked this conversation as resolved.
cmd_vel_out_topic: "cmd_vel"
state_topic: "collision_monitor_state"
transform_tolerance: 0.5
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2 changes: 1 addition & 1 deletion nav2_collision_monitor/src/collision_monitor_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -205,7 +205,7 @@ bool CollisionMonitor::getParameters(
auto node = shared_from_this();

nav2_util::declare_parameter_if_not_declared(
node, "cmd_vel_in_topic", rclcpp::ParameterValue("cmd_vel_raw"));
node, "cmd_vel_in_topic", rclcpp::ParameterValue("cmd_vel_smoothed"));
cmd_vel_in_topic = get_parameter("cmd_vel_in_topic").as_string();
nav2_util::declare_parameter_if_not_declared(
node, "cmd_vel_out_topic", rclcpp::ParameterValue("cmd_vel"));
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