Bug report
The global costmap used by nava2_planner is not updated after a lifecycle restart
- Operating System:
- ROS2 Version:
- Version or commit hash:
- DDS implementation:
Steps to reproduce issue
- Start the navigation stack
- Stop it using the lifecycle `deactivate` and `cleanup`
- Restart it using the lifecycle `configure` and `activate`
Expected behavior
The nav2_planner is restarted with a working costmap.
Actual behavior
The nav2_planner is restarted with a frozen costmap.
The costmap parameters are not accessible, the static_layer is not updated.
Additional information
This happens because the costmap thread is deleted in the on_cleanup() method and is not recreated in the configure process.
https://github.com/ros-planning/navigation2/blob/1cdc277b84115ee97c94b60b2a14630d097c6975/nav2_planner/src/planner_server.cpp#L255
Bug report
The global costmap used by nava2_planner is not updated after a lifecycle restart
Steps to reproduce issue
Expected behavior
The nav2_planner is restarted with a working costmap.
Actual behavior
The nav2_planner is restarted with a frozen costmap.
The costmap parameters are not accessible, the static_layer is not updated.
Additional information
This happens because the costmap thread is deleted in the
on_cleanup()method and is not recreated in the configure process.https://github.com/ros-planning/navigation2/blob/1cdc277b84115ee97c94b60b2a14630d097c6975/nav2_planner/src/planner_server.cpp#L255