From 5c00ce5d0e75aa529f47932ba177c39eceb16811 Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Fri, 31 May 2019 10:14:57 -0700
Subject: [PATCH] re-enable obstacle layer (#762)
---
nav2_bringup/launch/nav2_params.yaml | 4 ++--
nav2_costmap_2d/plugins/obstacle_layer.cpp | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/nav2_bringup/launch/nav2_params.yaml b/nav2_bringup/launch/nav2_params.yaml
index e3d53837..cfbfcae1 100644
--- a/nav2_bringup/launch/nav2_params.yaml
+++ b/nav2_bringup/launch/nav2_params.yaml
@@ -95,7 +95,7 @@ local_costmap:
robot_radius: 0.17
inflation_layer.cost_scaling_factor: 3.0
obstacle_layer:
- enabled: False
+ enabled: True
always_send_full_costmap: True
observation_sources: scan
scan:
@@ -119,7 +119,7 @@ global_costmap:
ros__parameters:
robot_radius: 0.17
obstacle_layer:
- enabled: False
+ enabled: True
always_send_full_costmap: True
observation_sources: scan
scan:
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index eabdced3..3097a907 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -186,7 +186,7 @@ void ObstacleLayer::onInitialize()
source.c_str(), topic.c_str(),
global_frame_.c_str(), expected_update_rate, observation_keep_time);
- rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
+ rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_sensor_data;
custom_qos_profile.depth = 50;
// create a callback for the topic
--
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