Services for `get_costmap` are advertised with same name - Githubissues

ros-navigation / navigation2

ROS 2 Navigation Framework and System

https://nav2.org/

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Services for `get_costmap` are advertised with same name #4419

Closed otamachan closed 3 weeks ago

otamachan commented 3 weeks ago

Bug report

Required Info:

Operating System:
- Ubuntu 24.04
ROS2 Version:
- Rolling
Version or commit hash:
- e5814001b8c61413d2252a742eddfdb4b37c15a1
DDS implementation:

Steps to reproduce issue

ros2 launch ./tools/planner_benchmarking/planning_benchmark_bringup.py

Expected behavior

Each get costmap service is advertised with each name.

Actual behavior

All services are advertised with same name (get_costmap) and calling /global_costmap/get_costmap service returns an unexpected map.

$ ros2 service info /global_costmap/get_costmap
Type: nav2_msgs/srv/GetCostmap
Clients count: 0
Services count: 3

Additional information

It could be adverised using topic name like

/global_costmap/get_costmap
/global_costmap/get_obstacle_layer
/global_costmap/get_static_layer

SteveMacenski commented 3 weeks ago

Merged, thanks for finding that!