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Improvements in RemoveInCollisionGoals and adjacent features #4676

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Merged
merged 6 commits into from
Sep 26, 2024
Merged

Improvements in RemoveInCollisionGoals and adjacent features #4676

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4c238de
improvements
tonynajjar Sep 13, 2024
f490b2b
ament_uncrustify
tonynajjar Sep 13, 2024
d30a05c
Fix formatting
tonynajjar Sep 13, 2024
2260a7b
fix building
tonynajjar Sep 16, 2024
ec88241
fixes
tonynajjar Sep 16, 2024
22ee182
add stamp
tonynajjar Sep 17, 2024
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ament_uncrustify 
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
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tonynajjar committed Sep 13, 2024
commit f490b2b7f326dae794e2d3d34df8c88f49acf85c
4 changes: 3 additions & 1 deletion nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp
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Expand Up @@ -65,7 +65,9 @@ BT::NodeStatus RemoveInCollisionGoals::on_completion(

Goals valid_goal_poses;
for (size_t i = 0; i < response->costs.size(); ++i) {
if ((response->costs[i] == 255 && !consider_unknown_as_obstacle_) || response->costs[i] < cost_threshold_) {
if ((response->costs[i] == 255 && !consider_unknown_as_obstacle_) ||
response->costs[i] < cost_threshold_)
{
valid_goal_poses.push_back(input_goals_[i]);
}
}
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