Fix review items

AlexeyMerzlyakov · AlexeyMerzlyakov · commit a9f92d8711e0 · 2021-04-14T16:29:58.000+03:00
diff --git a/nav2_costmap_2d/src/clear_costmap_service.cpp b/nav2_costmap_2d/src/clear_costmap_service.cpp
@@ -113,14 +113,8 @@ void ClearCostmapService::clearRegion(const double reset_distance, bool invert)
     }
   }
 
-  layers = costmap_.getLayeredCostmap()->getFilters();
-
-  for (auto & layer : *layers) {
-    if (layer->isClearable()) {
-      auto costmap_layer = std::static_pointer_cast<CostmapLayer>(layer);
-      clearLayerRegion(costmap_layer, x, y, reset_distance, invert);
-    }
-  }
+  // AlexeyMerzlyakov: No need to clear layer region for costmap filters
+  // as they are always supposed to be not clearable.
 }
 
 void ClearCostmapService::clearLayerRegion(
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -165,7 +165,6 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
     std::shared_ptr<Layer> filter = plugin_loader_.createSharedInstance(filter_types_[i]);
     layered_costmap_->addFilter(filter);
 
-    // TODO(mjeronimo): instead of get(), use a shared ptr
     filter->initialize(
       layered_costmap_.get(), filter_names_[i], tf_buffer_.get(),
       shared_from_this(), client_node_, rclcpp_node_);

Original file line number	Diff line number	Diff line change
`@@ -113,14 +113,8 @@ void ClearCostmapService::clearRegion(const double reset_distance, bool invert)`
`113`	`113`	`}`
`114`	`114`	`}`
`115`	`115`
`116`		`- layers = costmap_.getLayeredCostmap()->getFilters();`
`117`		`-`
`118`		`- for (auto & layer : *layers) {`
`119`		`- if (layer->isClearable()) {`
`120`		`- auto costmap_layer = std::static_pointer_cast<CostmapLayer>(layer);`
`121`		`- clearLayerRegion(costmap_layer, x, y, reset_distance, invert);`
`122`		`- }`
`123`		`- }`
	`116`	`+ // AlexeyMerzlyakov: No need to clear layer region for costmap filters`
	`117`	`+ // as they are always supposed to be not clearable.`
`124`	`118`	`}`
`125`	`119`
`126`	`120`	`void ClearCostmapService::clearLayerRegion(`