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naturerobots · Dec 12, 2023 · 5acae8c · 5acae8c
1 parent d2312fb
commit 5acae8c
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Showing 2 changed files with 11 additions and 12 deletions.
diff --git a/mbf_costmap_nav/include/mbf_costmap_nav/costmap_navigation_server.h b/mbf_costmap_nav/include/mbf_costmap_nav/costmap_navigation_server.h
@@ -234,12 +234,12 @@ class CostmapNavigationServer : public mbf_abstract_nav::AbstractNavigationServe
   bool callServiceFindValidPose(mbf_msgs::FindValidPose::Request& request, mbf_msgs::FindValidPose::Response& response);
 
   /**
-   * @brief Callback method for the force_update_costmaps service
+   * @brief Callback method for the update_costmaps service
    * @param request Empty request object.
    * @param response Empty response object.
    * @return true, if the service completed successfully, false otherwise
    */
-  bool callForceUpdateCostmaps(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
+  bool callServiceUpdateCostmaps(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
 
   /**
    * @brief Reconfiguration method called by dynamic reconfigure.
@@ -294,8 +294,8 @@ class CostmapNavigationServer : public mbf_abstract_nav::AbstractNavigationServe
   //! Service Server for the find_valid_pose service
   ros::ServiceServer find_valid_pose_srv_;
 
-  //! Service Server for the force_update_costmap service
-  ros::ServiceServer force_update_costmaps_srv_;
+  //! Service Server for the update_costmap service
+  ros::ServiceServer update_costmaps_srv_;
 
   static constexpr double ANGLE_INCREMENT = 5.0 * M_PI / 180.0;  // 5 degrees
 };

diff --git a/mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp b/mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp
@@ -175,13 +175,12 @@ CostmapNavigationServer::CostmapNavigationServer(const TFPtr& tf_listener_ptr)
       private_nh_.advertiseService("check_pose_cost", &CostmapNavigationServer::callServiceCheckPoseCost, this);
   check_path_cost_srv_ =
       private_nh_.advertiseService("check_path_cost", &CostmapNavigationServer::callServiceCheckPathCost, this);
-  clear_costmaps_srv_ =
-      private_nh_.advertiseService("clear_costmaps", &CostmapNavigationServer::callServiceClearCostmaps, this);
   find_valid_pose_srv_ =
       private_nh_.advertiseService("find_valid_pose", &CostmapNavigationServer::callServiceFindValidPose, this);
-
-  force_update_costmaps_srv_ =
-      private_nh_.advertiseService("force_update_costmaps", &CostmapNavigationServer::callForceUpdateCostmaps, this);
+  update_costmaps_srv_ =
+      private_nh_.advertiseService("update_costmaps", &CostmapNavigationServer::callServiceUpdateCostmaps, this);
+  clear_costmaps_srv_ =
+      private_nh_.advertiseService("clear_costmaps", &CostmapNavigationServer::callServiceClearCostmaps, this);
 
   // dynamic reconfigure server for mbf_costmap_nav configuration; also include abstract server parameters
   dsrv_costmap_ = boost::make_shared<dynamic_reconfigure::Server<mbf_costmap_nav::MoveBaseFlexConfig> >(private_nh_);
@@ -821,10 +820,10 @@ bool CostmapNavigationServer::callServiceClearCostmaps(std_srvs::Empty::Request&
   return true;
 }
 
-bool CostmapNavigationServer::callForceUpdateCostmaps(std_srvs::Empty::Request& request,
-                                                      std_srvs::Empty::Response& response)
+bool CostmapNavigationServer::callServiceUpdateCostmaps(std_srvs::Empty::Request& request,
+                                                        std_srvs::Empty::Response& response)
 {
-  // force update both costmaps
+  // update both costmaps
   for (auto costmap : { local_costmap_ptr_, global_costmap_ptr_ })
   {
     costmap->checkActivate();