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Fix build tests #37

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merged 1 commit into from
Feb 15, 2024
Merged

Fix build tests #37

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4 changes: 2 additions & 2 deletions terrain_navigation_ros/src/terrain_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@ void TerrainPlanner::plannerloopCallback(const ros::TimerEvent &event) {
const std::lock_guard<std::mutex> lock(goal_mutex_);
if (local_origin_received_ && !map_initialized_) {
std::cout << "[TerrainPlanner] Local origin received, loading map" << std::endl;
map_initialized_ = terrain_map_->Load(map_path_, true, map_color_path_);
map_initialized_ = terrain_map_->Load(map_path_, map_color_path_);
terrain_map_->AddLayerDistanceTransform(min_elevation_, "distance_surface");
terrain_map_->AddLayerDistanceTransform(max_elevation_, "max_elevation");
terrain_map_->AddLayerHorizontalDistanceTransform(goal_radius_, "ics_+", "distance_surface");
Expand Down Expand Up @@ -890,7 +890,7 @@ bool TerrainPlanner::setLocationCallback(planner_msgs::SetString::Request &req,
/// TODO: Add location from the new set location service
map_path_ = resource_path_ + "/" + set_location + ".tif";
map_color_path_ = resource_path_ + "/" + set_location + "_color.tif";
bool result = terrain_map_->Load(map_path_, align_location, map_color_path_);
bool result = terrain_map_->Load(map_path_, map_color_path_);
std::cout << "[TerrainPlanner] Computing distance transforms" << std::endl;
terrain_map_->AddLayerDistanceTransform(min_elevation_, "distance_surface");
terrain_map_->AddLayerDistanceTransform(max_elevation_, "max_elevation");
Expand Down
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