From 898d8c041a77672b734543ed04c6c950fad7d039 Mon Sep 17 00:00:00 2001 From: nelson Date: Sun, 7 Jan 2024 22:04:26 +0000 Subject: [PATCH] add VelocityPolygon to detector node Signed-off-by: nelson --- .../nav2_collision_monitor/collision_detector_node.hpp | 1 + nav2_collision_monitor/src/collision_detector_node.cpp | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp index 7791265179..fae479d650 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp @@ -33,6 +33,7 @@ #include "nav2_collision_monitor/types.hpp" #include "nav2_collision_monitor/polygon.hpp" #include "nav2_collision_monitor/circle.hpp" +#include "nav2_collision_monitor/velocity_polygon.hpp" #include "nav2_collision_monitor/source.hpp" #include "nav2_collision_monitor/scan.hpp" #include "nav2_collision_monitor/pointcloud.hpp" diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp index b6c871c540..4f485520c7 100644 --- a/nav2_collision_monitor/src/collision_detector_node.cpp +++ b/nav2_collision_monitor/src/collision_detector_node.cpp @@ -207,6 +207,10 @@ bool CollisionDetector::configurePolygons( polygons_.push_back( std::make_shared( node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); + } else if (polygon_type == "velocity_polygon") { + polygons_.push_back( + std::make_shared( + node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); } else { // Error if something else RCLCPP_ERROR( get_logger(),