Fix for robot footprint collision in obstacles critic (backport #3878) #3947
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* Inscribed/Circumscribed costs must be updated to take into account the current shape of the robot. Was previous only being called once in initialize(). * Add early return to avoid calculations if footprint has not changed. * Only update radius if using footprint. Add perf timers. * Remove perf timers. * Update comments. --------- Co-authored-by: Leif Terry <[email protected]> (cherry picked from commit 98af3b9)
SteveMacenski
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Nov 6, 2023
RBT22
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Nov 16, 2023
…#3878) (ros-navigation#3947) * Inscribed/Circumscribed costs must be updated to take into account the current shape of the robot. Was previous only being called once in initialize(). * Add early return to avoid calculations if footprint has not changed. * Only update radius if using footprint. Add perf timers. * Remove perf timers. * Update comments. --------- Co-authored-by: Leif Terry <[email protected]> (cherry picked from commit 98af3b9) Co-authored-by: LeifHookedWireless <[email protected]>
RBT22
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to EnjoyRobotics/navigation2
that referenced
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Nov 16, 2023
…#3878) (ros-navigation#3947) * Inscribed/Circumscribed costs must be updated to take into account the current shape of the robot. Was previous only being called once in initialize(). * Add early return to avoid calculations if footprint has not changed. * Only update radius if using footprint. Add perf timers. * Remove perf timers. * Update comments. --------- Co-authored-by: Leif Terry <[email protected]> (cherry picked from commit 98af3b9) Co-authored-by: LeifHookedWireless <[email protected]>
redvinaa
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Nov 20, 2023
…#3878) (ros-navigation#3947) * Inscribed/Circumscribed costs must be updated to take into account the current shape of the robot. Was previous only being called once in initialize(). * Add early return to avoid calculations if footprint has not changed. * Only update radius if using footprint. Add perf timers. * Remove perf timers. * Update comments. --------- Co-authored-by: Leif Terry <[email protected]> (cherry picked from commit 98af3b9) Co-authored-by: LeifHookedWireless <[email protected]>
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This is an automatic backport of pull request #3878 done by Mergify.
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