GitHub PullRequestReviewCommentEvent at 2014-08-23 04:16:09
Repository: navigation
Actor: dejanpan
Payload: {"action":"created","comment":{"url":"https://api.github.com/repos/bosch-ros-pkg/navigation/pulls/comments/16628645","id":16628645,"diff_hunk":"@@ -103,17 +96,23 @@ void VoxelLayer::resetOldCosts(double* min_x, double* min_y,\n   int error_count = 0; \n   for(int i=0; i < new_obs_list.size(); i++){\n     CostMapList &list = new_obs_list[i];\n-    if((current_time - list.obs_timestamp / 1.0e6) > max_obstacle_persistance_){\n+    std::map<std::string, double>::iterator it; \n+    it = observation_timeout.find(list.topic); \n+\n+    double obs_persistance = max_obstacle_persistance_;\n+    if(it != observation_timeout.end()){\n+      obs_persistance = it->second; \n+      ROS_DEBUG(\"Topic : %s - Timeout : %f\\n\", list.topic.c_str(), obs_persistance);\n+    }\n+    else{\n+      ROS_ERROR(\"Asked to clear cost for non-timeout topic\\n\");\n+    }\n+\n+    if((current_time - list.obs_timestamp / 1.0e6) > obs_persistance){","path":"costmap_2d/plugins/voxel_layer.cpp","position":49,"original_position":49,"commit_id":"b4a00e1fcccbc9a767bbdd259fd5910ac58fc026","original_commit_id":"b4a00e1fcccbc9a767bbdd259fd5910ac58fc026","user":{"login":"dejanpan","id":17376,"avatar_url":"https://avatars.githubusercontent.com/u/17376?v=2","gravatar_id":"88f3a2cf3f3a82d4e7745a538a755b22","url":"https://api.github.com/users/dejanpan","html_url":"https://github.com/dejanpan","followers_url":"https://api.github.com/users/dejanpan/followers","following_url":"https://api.github.com/users/dejanpan/following{/other_user}","gists_url":"https://api.github.com/users/dejanpan/gists{/gist_id}","starred_url":"https://api.github.com/users/dejanpan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dejanpan/subscriptions","organizations_url":"https://api.github.com/users/dejanpan/orgs","repos_url":"https://api.github.com/users/dejanpan/repos","events_url":"https://api.github.com/users/dejanpan/events{/privacy}","received_events_url":"https://api.github.com/users/dejanpan/received_events","type":"User","site_admin":false},"body":"you use this line for instance. current_time is already in seconds (ros::Time::now().toSec()), obs_timestamp not documented (but i assume secs too) - why still dividing to get to secs?","created_at":"2014-08-23T04:16:09Z","updated_at":"2014-08-23T04:16:09Z","html_url":"https://github.com/bosch-ros-pkg/navigation/pull/18#discussion_r16628645","pull_request_url":"https://api.github.com/repos/bosch-ros-pkg/navigation/pulls/18","_links":{"self":{"href":"https://api.github.com/repos/bosch-ros-pkg/navigation/pulls/comments/16628645"},"html":{"href":"https://github.com/bosch-ros-pkg/navigation/pull/18#discussion_r16628645"},"pull_request":{"href":"https://api.github.com/repos/bosch-ros-pkg/navigation/pulls/18"}}},"pull_request":{"url":"https://api.github.com/repos/bosch-ros-pkg/navigation/pulls/18","id":20196456,"html_url":"https://github.com/bosch-ros-pkg/navigation/pull/18","diff_url":"https://github.com/bosch-ros-pkg/navigation/pull/18.diff","patch_url":"https://github.com/bosch-ros-pkg/navigation/pull/18.patch","issue_url":"https://api.github.com/repos/bosch-ros-pkg/navigation/issues/18","number":18,"state":"open","locked":false,"title":"Global layer timeout topic with height","user":{"login":"sachih","id":3586348,"avatar_url":"https://avatars.githubusercontent.com/u/3586348?v=2","gravatar_id":"8bdeccc7f3489a8a046ba5c80a81892e","url":"https://api.github.com/users/sachih","html_url":"https://github.com/sachih","followers_url":"https://api.github.com/users/sachih/followers","following_url":"https://api.github.com/users/sachih/following{/other_user}","gists_url":"https://api.github.com/users/sachih/gists{/gist_id}","starred_url":"https://api.github.com/users/sachih/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sachih/subscriptions","organizations_url":"https://api.github.com/users/sachih/orgs","repos_url":"https://api.github.com/users/sachih/repos","events_url":"https://api.github.com/users/sachih/events{/privacy}","received_events_url":"https://api.github.com/users/sachih/received_events","type":"User","site_admin":false},"body":"Updated the obstacle timeout so that you can specify to clear old obstacles based on the topic\r\n\r\nEnable this by setting the following for each sensor for which you require the obstacles to timeout (this only works for global maps) \r\ne.g.\r\nbump: { clear_old: true, max_obstacle_persistance: 3.0}\r\n\r\nTime is in seconds.\r\n\r\nOption to enable height checking before clearing obstacle\r\n\r\nset check_height_before_clearing : true in the voxel layer 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