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get_plan: supporting tolerance parameter

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matlabbe
2018-07-09 15:26:39 -04:00
parent 23f661827a
commit 7e155a5abb
1 changed files with 2 additions and 2 deletions
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src/CoreWrapper.cpp
+2 -2
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@@ -2401,7 +2401,7 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
return true;
}
bool CoreWrapper::getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
bool CoreWrapper::getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
{
Transform pose = rtabmap_ros::transformFromPoseMsg(req.goal.pose);
UTimer timer;
@@ -2420,7 +2420,7 @@ bool CoreWrapper::getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::Ge
pose = t * pose;
}
if(rtabmap_.computePath(pose))
if(rtabmap_.computePath(pose, req.tolerance))
{
NODELET_INFO("Planning: Time computing path = %f s", timer.ticks());
const std::vector<std::pair<int, Transform> > & poses = rtabmap_.getPath();