Humble maintenance - Githubissues

doisyg commented 2 years ago

Sharing here our last galactic and humble changes to TEB:

adaptation to libg2o api changes, similar to https://github.com/rst-tu-dortmund/teb_local_planner/commit /d5fc3fea6e9b77664b53dfefa0261aa9a6635190 but without creating the extra register_type function (hence the merge conflict)
same dynamic parameter method as nav2
dynamic footprint parameter (but with the limitation that the footprint type cannot change at runtime), @guilyx
get base and global frames from costmap (and hence remove unnecessary map_frame param)
Humble adaptations: tf2_geometry_msgs.h depreciation, nav2 PR 2976 changes (https://github.com/ros-planning/navigation2/pull/2976), compiler warnings and fix costmap_converter plugin load

doisyg commented 2 years ago

Great, I ll perform some additional checks and confirm this PR next week once I will have access to a real robot.

doisyg commented 2 years ago

Confirming than this has been extensively tested on a real robot (with a circular footprint) and that some basic sim test have been done with a polygon footprint.

SteveMacenski commented 2 years ago

Git claims there's a conflict that needs to be resolved before I can merge

doisyg commented 2 years ago

Solved

rst-tu-dortmund / teb_local_planner

Humble maintenance #374