Fix costmap update not being published on force updates #93
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siferati
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ayushgaud,
ChristofDubs,
renan028 and
tomin11
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tomin11
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renan028
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Description
Costmap2DROS::updateMapis a public method that other components can call to force an update to happen outside of the usualCostmap2DROS::mapUpdateLoop.Since
Costmap2DPublisher::updateBoundsis only called insideCostmap2DROS::mapUpdateLoop, this means that when forcing a costmap update we are not updating the bounds of the publisher and thus will result in wrong visualization.To fix this, we have to ensure the bounds of the publisher are also updated on force updates.
This can be achieved by moving the logic for updating the publisher bounds to be inside
Costmap2DROS::updateMap.Notice in the video below how there's wrong information remaining in the costmap after a force update.
This PR fixes that.
route_dev_layer_bug.mp4