Switch move_base_flex to post-Hydro params format to improve reliability #159
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I was seeing flakiness in move_base_flex that seemed to be due to the automatic migration of parameters from the pre-Hydro to post-Hydro format (see http://wiki.ros.org/costmap_2d#costmap_2d.2Flayered.Pre-Hydro_Parameters). It seems that sometimes the params would end up as a mixture of the two, causing the costmap to fail to be populated. This PR just ports everything to the new post-Hydro format, so there is no automatic conversion that can go wrong.
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I was seeing flakiness in move_base_flex that seemed to be due to the automatic migration of parameters from the pre-Hydro to post-Hydro format (see http://wiki.ros.org/costmap_2d#costmap_2d.2Flayered.Pre-Hydro_Parameters). It seems that sometimes the params would end up as a mixture of the two, causing the costmap to fail to be populated.
This PR just ports everything to the new post-Hydro format, so there is no automatic conversion that can go wrong.
I verified using
rosparam get /move_base_flex/global_costmapthat the only net effect on the parameters is that thestatic_map: truepre-Hydro parameter is gone, which does not matter since the post-Hydro static_layer parameters are all set correctly and enabled.