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planner_cspace: refactor start pose building algorithm and fix finishing condition when start is relocated #718
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[498] PASSED on noeticAll tests passed
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Codecov Report
@@ Coverage Diff @@
## master #718 +/- ##
==========================================
+ Coverage 88.62% 88.65% +0.03%
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Files 60 60
Lines 4421 4435 +14
==========================================
+ Hits 3918 3932 +14
Misses 503 503
📢 Have feedback on the report? Share it here. |
end_metric.position.x, end_metric.position.y, tf2::getYaw(end_metric.orientation)); | ||
end_grid.cycleUnsigned(map_info_.angle); | ||
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if (!cm_.validate(start_grid, range_)) | ||
{ | ||
ROS_ERROR("You are on the edge of the world."); |
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I think logs in buildStartPoses
shouldn't be shown on GetPlan service call
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cbMakePlan()
does not call this function as it uses the start pose designated in GetPlan::Request
without anti-alias or relocations.
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LGTM
The algorithms to build path planning start poses are moved to a new function
buildStartPoses()
.This const function returns the status of the start pose and builds a vector of start poses.
In addition, the algorithm is fixed to check the finishing condition when the start pose is relocated.