navigation2
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fix ObstacleLayer not working due to #2489
Signed-off-by: zhenpeng ge [email protected]
Basic Info
Info | Please fill out this column |
---|---|
Ticket(s) this addresses | (add tickets here #3014) |
Primary OS tested on | (Ubuntu22.04) |
Robotic platform tested on | (gazebo simulation of turtlebot3) |
Description of contribution in a few bullet points
Obstacle Layer not working (the scan data isn't subscribed by Obstacle Layer), becasue observation_subscribers_->subsciber()
failed when ObstacleLayer::activate()
is called since #2489
- use
active_
flag instead ofsubscibe()
andunsubscibe()
(refer to https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L614)
i'm not sure the side effect of this change, maybe we could have a better solution.
Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers:
- [ ] Check that any new parameters added are updated in navigation.ros.org
- [ ] Check that any significant change is added to the migration guide
- [ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
- [ ] Check that any new functions have Doxygen added
- [ ] Check that any new features have test coverage
- [ ] Check that any new plugins is added to the plugins page
- [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
@gezp, please properly fill in PR template in the future. @stevemacenski, use this instead.
- [ ] Check that any new parameters added are updated in navigation.ros.org
- [ ] Check that any significant change is added to the migration guide
- [ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
- [ ] Check that any new functions have Doxygen added
- [ ] Check that any new features have test coverage
- [ ] Check that any new plugins is added to the plugins page
- [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
CC @jwallace42
If callback groups aren't being respected, how does bypassing the unsubscribe help? Per rclcpp issue thread
If callback groups aren't being respected, how does bypassing the unsubscribe help? Per rclcpp issue thread
maybe I don't get your meaning,the problem is caused by subscribe()
, not related to unsubscribe()
.
https://github.com/ros2/rmw_fastrtps/pull/619 supposedly fixes it and is merged!
Humble binaries as of 18-Oct still have this issue. Switching to Cyclone seems to fix. Just commenting here for others that might be trying to track down issue