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Fix parameters in route server (backport Kilted) #5905

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Merged
SteveMacenski merged 1 commit into from
Jan 27, 2026
Merged

Fix parameters in route server (backport Kilted) #5905

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6 changes: 3 additions & 3 deletions nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,19 +34,19 @@ void CostmapScorer::configure(
// Find whether to use average or maximum cost values
nav2_util::declare_parameter_if_not_declared(
node, getName() + ".use_maximum", rclcpp::ParameterValue(true));
use_max_ = static_cast<float>(node->get_parameter(getName() + ".use_maximum").as_bool());
use_max_ = node->get_parameter(getName() + ".use_maximum").as_bool();

// Edge is invalid if its in collision
nav2_util::declare_parameter_if_not_declared(
node, getName() + ".invalid_on_collision", rclcpp::ParameterValue(true));
invalid_on_collision_ =
static_cast<float>(node->get_parameter(getName() + ".invalid_on_collision").as_bool());
node->get_parameter(getName() + ".invalid_on_collision").as_bool();

// Edge is invalid if edge is off the costmap
nav2_util::declare_parameter_if_not_declared(
node, getName() + ".invalid_off_map", rclcpp::ParameterValue(true));
invalid_off_map_ =
static_cast<float>(node->get_parameter(getName() + ".invalid_off_map").as_bool());
node->get_parameter(getName() + ".invalid_off_map").as_bool();

// Max cost to be considered valid
nav2_util::declare_parameter_if_not_declared(
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2 changes: 1 addition & 1 deletion nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ void AdjustSpeedLimit::configure(

nav2_util::declare_parameter_if_not_declared(
node, getName() + ".speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
std::string topic = node->get_parameter(getName() + ".speed_tag").as_string();
std::string topic = node->get_parameter(getName() + ".speed_limit_topic").as_string();

speed_limit_pub_ = node->create_publisher<nav2_msgs::msg::SpeedLimit>(topic, 1);
speed_limit_pub_->on_activate();
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