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Fix some parameters not being passed to getCurrentPose #1790

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Merged
merged 1 commit into from
Jun 1, 2020
Merged

Fix some parameters not being passed to getCurrentPose #1790

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4 changes: 3 additions & 1 deletion nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,9 @@ class GoalReachedCondition : public BT::ConditionNode
{
geometry_msgs::msg::PoseStamped current_pose;

if (!nav2_util::getCurrentPose(current_pose, *tf_, "map", "base_link", transform_tolerance_)) {
if (!nav2_util::getCurrentPose(
current_pose, *tf_, global_frame_, robot_base_frame_, transform_tolerance_))
{
RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
return false;
}
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1 change: 1 addition & 0 deletions nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
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Expand Up @@ -140,6 +140,7 @@ class BtNavigator : public nav2_util::LifecycleNode
rclcpp::Time start_time_;
std::string robot_frame_;
std::string global_frame_;
double transform_tolerance_;
};

} // namespace nav2_bt_navigator
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4 changes: 3 additions & 1 deletion nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -110,6 +110,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
plugin_lib_names_ = get_parameter("plugin_lib_names").as_string_array();
global_frame_ = get_parameter("global_frame").as_string();
robot_frame_ = get_parameter("robot_base_frame").as_string();
transform_tolerance_ = get_parameter("transform_tolerance").as_double();

// Create the class that registers our custom nodes and executes the BT
bt_ = std::make_unique<nav2_behavior_tree::BehaviorTreeEngine>(plugin_lib_names_);
Expand Down Expand Up @@ -242,7 +243,8 @@ BtNavigator::navigateToPose()

// action server feedback (pose, duration of task,
// number of recoveries, and distance remaining to goal)
nav2_util::getCurrentPose(feedback_msg->current_pose, *tf_);
nav2_util::getCurrentPose(
feedback_msg->current_pose, *tf_, global_frame_, robot_frame_, transform_tolerance_);

geometry_msgs::msg::PoseStamped goal_pose;
blackboard_->get("goal", goal_pose);
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