planner_3d: add an option to trigger planning by costmap updates (#727)

at-wat · Nov 2, 2023 · 1658de5 · 1658de5
1 parent 44a5f47
commit 1658de5
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Showing 3 changed files with 274 additions and 161 deletions.
diff --git a/planner_cspace/cfg/Planner3D.cfg b/planner_cspace/cfg/Planner3D.cfg
@@ -48,5 +48,6 @@ gen.add("fast_map_update", bool_t, 0, "", False)
 gen.add("max_retry_num", int_t, 0, "", -1, -1, 100)
 gen.add("keep_a_part_of_previous_path", bool_t, 0, "If true, a part of the previous path is preserved to avoid radical path changes.", False)
 gen.add("dist_stop_to_previous_path", double_t, 0, "Valid only when keep_a_part_of_previous_path is true. This should be the same as dist_stop parameter of trajectory_tracker.", 0.1, 0.0, 1.0)
+gen.add("trigger_plan_by_costmap_update", bool_t, 0, "", False)
 
 exit(gen.generate(PACKAGE, "planner_cspace", "Planner3D"))