Implement CostmapLayer::clearArea

SteveMacenski / spatio_temporal_voxel_layer

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations

http://wiki.ros.org/spatio_temporal_voxel_layer

GNU Lesser General Public License v2.1

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Implement CostmapLayer::clearArea #243

Closed siferati closed 1 year ago

siferati commented 1 year ago

Description

Added custom implementation of CostmapLayer::clearArea since the default implementation doesn't work for STVL.
I guess this closes #122?
Bonus: some minor whitespace clearing performed by vscode.

Demo

You can see in the video the STVL layer getting cleared as I call ClearCostmapRecovery behavior.

https://user-images.githubusercontent.com/15384781/207238088-f119a664-969f-45e4-bb7c-d461cc8c69a8.mp4

siferati commented 1 year ago

@SteveMacenski I opened the PR but I do not have a ROS2 system to test on so would be nice if you could make sure it at least compiles before merging!

SteveMacenski commented 1 year ago

Thanks!

corot commented 1 year ago

@SteveMacenski, I think this justifies a release, as before we where essentially ignoring clear_costmap recovery behavior :thinking: would you mind?

SteveMacenski commented 1 year ago

Will do

corot commented 1 year ago

Will do

wait, wait,,,, we found an issue with the mutex locking that can freeze move_base_flex

I think I found the issue: https://github.com/rapyuta-robotics/spatio_temporal_voxel_layer/pull/1 @SteveMacenski , can u take a look and decide which option is the best?

add the costmap lock (current PR implementation)
remove the voxel lock on clearArea