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SS-814 Revert "add intial_pose_is_ready flag" - Fix: robot localized with rviz, but keeps doing initialization behaviour #66

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SS-814 Revert "add intial_pose_is_ready flag" - Fix: robot localized with rviz, but keeps doing initialization behaviour #66

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5 changes: 0 additions & 5 deletions nav2_amcl/include/nav2_amcl/amcl_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -409,12 +409,7 @@ class AmclNode : public nav2_util::LifecycleNode
*/
void handleInitialPose(geometry_msgs::msg::PoseWithCovarianceStamped & msg);
bool init_pose_received_on_inactive{false};

// Flag signaling that the initial pose has been set
bool initial_pose_is_known_{false};

// Flag signaling that the initial pose has been received
bool initial_pose_is_ready_{false};
bool set_initial_pose_{false};
bool always_reset_initial_pose_;
double initial_pose_x_;
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18 changes: 8 additions & 10 deletions nav2_amcl/src/amcl_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -623,7 +623,7 @@ AmclNode::getInitialPoseStatusCallback(
{
response->status = response->STATUS_NOT_READY;

if(initial_pose_is_ready_) response->status = response->STATUS_OK;
if(initial_pose_is_known_) response->status = response->STATUS_OK;
}

void
Expand Down Expand Up @@ -653,15 +653,13 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
// Overriding last published pose to initial pose
last_published_pose_ = *msg;

if (!active_) {
init_pose_received_on_inactive = true;
RCLCPP_WARN(
get_logger(), "Received initial pose request, "
"but AMCL is not yet in the active state");
return;
}

initial_pose_is_ready_ = true;
if (!active_) {
init_pose_received_on_inactive = true;
RCLCPP_WARN(
get_logger(), "Received initial pose request, "
"but AMCL is not yet in the active state");
return;
}
}

handleInitialPose(*msg);
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