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Warn if inflation_radius_ < inscribed_radius_ #4423

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Merged
SteveMacenski merged 2 commits into from
Jun 18, 2024
Merged

Warn if inflation_radius_ < inscribed_radius_ #4423

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a1543f7
Warn if inflation_radius_ < inscribed_radius_
tonynajjar Jun 12, 2024
d3d7971
convert to error
tonynajjar Jun 16, 2024
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10 changes: 10 additions & 0 deletions nav2_costmap_2d/plugins/inflation_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,16 @@ InflationLayer::onFootprintChanged()
computeCaches();
need_reinflation_ = true;

if (inflation_radius_ < inscribed_radius_) {
RCLCPP_ERROR(
logger_,
"The configured inflation radius (%.3f) is smaller than "
"the computed inscribed radius (%.3f) of your footprint, "
"it is highly recommended to set inflation radius to be at "
"least as big as the inscribed radius to avoid collisions",
inflation_radius_, inscribed_radius_);
}

RCLCPP_DEBUG(
logger_, "InflationLayer::onFootprintChanged(): num footprint points: %zu,"
" inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
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