From 8c4138096a2649e15d9f065c29e7ebee9f6ca522 Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Fri, 31 May 2019 16:51:42 -0700
Subject: [PATCH] get costmap on computePathToPose
---
nav2_navfn_planner/src/navfn_planner.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index 739ede3a..91d7fffb 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -163,6 +163,7 @@ NavfnPlanner::computePathToPose(const std::shared_ptr<GoalHandle> goal_handle)
try {
// Get the current pose from the robot
+ getCostmap(costmap_);
auto start = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
if (!robot_->getCurrentPose(start)) {
--
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