fix

Signed-off-by: Tony Najjar <[email protected]>

Author: tonynajjar

nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.cpp

@@ -48,7 +48,7 @@ void RemoveInCollisionGoals::on_tick()
   request_->use_footprint = use_footprint_;
 
   for (const auto & goal : input_goals_.poses) {
-    request_->poses.poses.push_back(goal);
+    request_->poses.push_back(goal);
   }
 }
 

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -831,7 +831,7 @@ void Costmap2DROS::getCostsCallback(
 
   Costmap2D * costmap = layered_costmap_->getCostmap();
   response->success = true;
-  for (const auto & pose : request->poses.poses) {
+  for (const auto & pose : request->poses) {
     geometry_msgs::msg::PoseStamped pose_transformed;
     if (!transformPoseToGlobalFrame(pose, pose_transformed)) {
       RCLCPP_ERROR(

nav2_costmap_2d/test/unit/costmap_cost_service_test.cpp

@@ -53,7 +53,7 @@ TEST_F(GetCostServiceTest, TestWithoutFootprint)
   geometry_msgs::msg::PoseStamped pose;
   pose.pose.position.x = 0.5;
   pose.pose.position.y = 1.0;
-  request->poses.poses.push_back(pose);
+  request->poses.push_back(pose);
   request->use_footprint = false;
 
   auto result_future = client_->async_send_request(request);
@@ -78,7 +78,7 @@ TEST_F(GetCostServiceTest, TestWithFootprint)
   tf2::Quaternion q;
   q.setRPY(0, 0, 0.5);
   pose.pose.orientation = tf2::toMsg(q);
-  request->poses.poses.push_back(pose);
+  request->poses.push_back(pose);
   request->use_footprint = true;
 
   auto result_future = client_->async_send_request(request);

nav2_rviz_plugins/src/costmap_cost_tool.cpp

@@ -102,7 +102,7 @@ void CostmapCostTool::callCostService(float x, float y)
   pose.header.stamp = node->now();
   pose.pose.position.x = x;
   pose.pose.position.y = y;
-  request->poses.poses.push_back(pose);
+  request->poses.push_back(pose);
   request->use_footprint = false;
 
   // Call local costmap service