config - added path_planning_period parameter in the "General" se…

…ction

include/humap_local_planner/humap_config.h

@@ -26,6 +26,8 @@ namespace humap_local_planner {
 	struct GeneralParams {
 		/// Whether to use planning (True) or proactive approach (False) for trajectory generation
 		bool planning_approach = true;
+		/// How often the global path is expected to be updated
+		double path_planning_period = 0.5;
 		/// The amount of time to roll trajectories out for in seconds
 		double sim_time = 1.2;
 		/// The granularity with which to check for collisions along each trajectory in meters

src/humap_config_ros.cpp

@@ -34,6 +34,18 @@ void HumapConfigROS::loadFromParamServer(const ros::NodeHandle& nh) {
 		);
 	}
 
+	std::string planner_frequency_param;
+	nh.searchParam("planner_frequency", planner_frequency_param);
+	double planner_frequency = 2.0;
+	if (nh.param(planner_frequency_param, planner_frequency, planner_frequency)) {
+		general_->path_planning_period = 1.0 / planner_frequency;
+		ROS_INFO(
+			"Path planning period set to %6.3f s. Computed based on `planner_frequency` which is %6.3f Hz",
+			general_->path_planning_period,
+			planner_frequency
+		);
+	}
+
 	// Limits
 	// default values based on PAL's TIAGo config
 	nh.param("max_vel_trans", limits_->max_vel_trans, 1.5);