Add trigger service to enable/disable the standalone node #43
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corot
approved these changes
Nov 8, 2024
| } else { | ||
| enabled_ = false; | ||
| response.success = true; | ||
| response.message = "costmap converter stopped."; |
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why not disabled? (or started above)
siferati
approved these changes
Nov 8, 2024
Comment on lines
+298
to
+307
| if (request.data) { | ||
| enabled_ = true; | ||
| response.success = true; | ||
| response.message = "costmap converter enabled."; | ||
| } else { | ||
| enabled_ = false; | ||
| response.success = true; | ||
| response.message = "costmap converter stopped."; | ||
| } | ||
| return true; |
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Suggested change
| if (request.data) { | |
| enabled_ = true; | |
| response.success = true; | |
| response.message = "costmap converter enabled."; | |
| } else { | |
| enabled_ = false; | |
| response.success = true; | |
| response.message = "costmap converter stopped."; | |
| } | |
| return true; | |
| if (request.data) { | |
| response.message = "costmap converter enabled."; | |
| } else { | |
| response.message = "costmap converter stopped."; | |
| } | |
| enabled_ = request.data; | |
| response.success = true; | |
| return true; |
S: less duplication
| @@ -85,13 +85,17 @@ class CostmapStandaloneConversion | |||
| costmap_update_sub_ = n_.subscribe(costmap_update_topic, 1, &CostmapStandaloneConversion::costmapUpdateCallback, this); | |||
| obstacle_pub_ = n_.advertise<costmap_converter::ObstacleArrayMsg>(obstacles_topic, 1000); | |||
| marker_pub_ = n_.advertise<visualization_msgs::Marker>(polygon_marker_topic, 10); | |||
| trigger_ = n_.advertiseService("enable", &CostmapStandaloneConversion::triggerCb, this); | |||
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S: dynamic reconfigure parameter instead of service
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Adding a service to stop the node for obstacle computation (costmap is still updated).