pass costmap and footprint subs by reference

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp

@@ -129,9 +129,11 @@ private:
   bool active_;
   bool always_send_full_costmap_;
 
+  // Publisher for translated costmap values as msg::OccupancyGrid used in visualization
   rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid>::SharedPtr costmap_pub_;
   rclcpp_lifecycle::LifecyclePublisher<map_msgs::msg::OccupancyGridUpdate>::SharedPtr
     costmap_update_pub_;
+  // Publisher for raw costmap values as msg::Costmap from layered costmap
   rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::Costmap>::SharedPtr costmap_raw_pub_;
 
   nav_msgs::msg::OccupancyGrid grid_;

nav2_motion_primitives/include/nav2_motion_primitives/motion_primitive.hpp

@@ -103,19 +103,13 @@ protected:
         std::bind(&MotionPrimitive::execute, this));
 
     costmap_sub_ = std::make_shared<nav2_costmap_2d::CostmapSubscriber>(
-      node_->get_node_base_interface(),
-      node_->get_node_topics_interface(),
-      node_->get_node_logging_interface(),
-      costmap_topic);
+      node_, costmap_topic);
 
     footprint_sub_ = std::make_shared<nav2_costmap_2d::FootprintSubscriber>(
-      node_->get_node_base_interface(),
-      node_->get_node_topics_interface(),
-      node_->get_node_logging_interface(),
-      footprint_topic);
+      node_, footprint_topic);
 
     collision_checker_ = std::make_unique<nav2_costmap_2d::CollisionChecker>(
-      costmap_sub_, footprint_sub_);
+      *costmap_sub_, *footprint_sub_);
   }
 
   void cleanup()

nav2_motion_primitives/test/test_motion_primitives.cpp

@@ -103,9 +103,9 @@ protected:
   {
     node_ = std::make_shared<rclcpp::Node>("MotionPrimitivesTestNode");
     node_->declare_parameter(
-      "costmap_topic", rclcpp::ParameterValue(std::string("local_costmap/costmap_raw")));
+      "costmap_topic", rclcpp::ParameterValue(std::string("global_costmap/costmap_raw")));
     node_->declare_parameter(
-      "footprint_topic", rclcpp::ParameterValue(std::string("local_costmap/published_footprint")));
+      "footprint_topic", rclcpp::ParameterValue(std::string("global_costmap/published_footprint")));
     primitive_ = std::make_unique<DummyPrimitive>(node_);
 
     client_ = rclcpp_action::create_client<MotionPrimitiveAction>(node_, "MotionPrimitive");