fix ObstacleLayer not working due to #2489#3018
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gezp wants to merge 2 commits intoros-navigation:mainfrom
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fix ObstacleLayer not working due to #2489#3018gezp wants to merge 2 commits intoros-navigation:mainfrom
gezp wants to merge 2 commits intoros-navigation:mainfrom
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Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
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@gezp, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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CC @jwallace42 |
Member
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If callback groups aren't being respected, how does bypassing the unsubscribe help? Per rclcpp issue thread |
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maybe I don't get your meaning，the problem is caused by |
This was referenced Jul 1, 2022
28 tasks
Member
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ros2/rmw_fastrtps#619 supposedly fixes it and is merged! |
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Humble binaries as of 18-Oct still have this issue. Switching to Cyclone seems to fix. Just commenting here for others that might be trying to track down issue |
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Signed-off-by: zhenpeng ge zhenpeng.ge@qq.com
Basic Info
Description of contribution in a few bullet points
Obstacle Layer not working (the scan data isn't subscribed by Obstacle Layer), becasue
observation_subscribers_->subsciber()failed whenObstacleLayer::activate()is called since #2489active_flag instead ofsubscibe()andunsubscibe()(refer to https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L614)i'm not sure the side effect of this change, maybe we could have a better solution.
Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: