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Adding logging for matched events and dropped messages into pub/sub of new nav2_ros_common package. Also adding QoS overrides default ON #5302

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Merged
merged 4 commits into from
Jun 25, 2025
Merged

Adding logging for matched events and dropped messages into pub/sub of new nav2_ros_common package. Also adding QoS overrides default ON #5302

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b0b5075
Adding logging for matched events and dropped messages
SteveMacenski Jun 24, 2025
20c0be7
toggle on
SteveMacenski Jun 24, 2025
f3e7362
apply for smac 2D
SteveMacenski Jun 24, 2025
4a64a74
Update interface_factories.hpp
SteveMacenski Jun 24, 2025
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apply for smac 2D 
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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@SteveMacenski
SteveMacenski committed Jun 24, 2025
commit f3e736256028af6c831a7da464ec888376e832f6
12 changes: 5 additions & 7 deletions nav2_smac_planner/src/smac_planner_2d.cpp
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Expand Up @@ -140,12 +140,10 @@ void SmacPlanner2D::configure(
_smoother->initialize(1e-50 /*No valid minimum turning radius for 2D*/);

// Initialize costmap downsampler
if (_downsample_costmap && _downsampling_factor > 1) {
std::string topic_name = "downsampled_costmap";
_costmap_downsampler = std::make_unique<CostmapDownsampler>();
_costmap_downsampler->on_configure(
node, _global_frame, topic_name, _costmap, _downsampling_factor);
}
std::string topic_name = "downsampled_costmap";
_costmap_downsampler = std::make_unique<CostmapDownsampler>();
_costmap_downsampler->on_configure(
node, _global_frame, topic_name, _costmap, _downsampling_factor);

_raw_plan_publisher = node->create_publisher<nav_msgs::msg::Path>("unsmoothed_plan");

Expand Down Expand Up @@ -215,7 +213,7 @@ nav_msgs::msg::Path SmacPlanner2D::createPlan(

// Downsample costmap, if required
nav2_costmap_2d::Costmap2D * costmap = _costmap;
if (_costmap_downsampler) {
if (_downsample_costmap && _downsampling_factor > 1) {
costmap = _costmap_downsampler->downsample(_downsampling_factor);
_collision_checker.setCostmap(costmap);
}
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