Add base config to traversability

MultyXu · MultyXu · commit 660f905d54c8 · 2026-06-25T16:21:15.000-04:00
diff --git a/hydra_ros/src/places/external_traversability_estimator.cpp b/hydra_ros/src/places/external_traversability_estimator.cpp
@@ -58,7 +58,8 @@ void declare_config(ExternalTraversabilityEstimator::Config& config) {
 }
 
 ExternalTraversabilityEstimator::ExternalTraversabilityEstimator(const Config& config)
-    : config(config::checkValid(config)) {
+    : TraversabilityEstimator(TraversabilityEstimator::Config{}),
+      config(config::checkValid(config)) {
   auto nh = ianvs::NodeHandle::this_node();
   sub_ = nh.create_subscription<nav_msgs::msg::OccupancyGrid>(
       config.input_topic,

Original file line number	Diff line number	Diff line change
`@@ -58,7 +58,8 @@ void declare_config(ExternalTraversabilityEstimator::Config& config) {`
`58`	`58`	`}`
`59`	`59`
`60`	`60`	`ExternalTraversabilityEstimator::ExternalTraversabilityEstimator(const Config& config)`
`61`		`- : config(config::checkValid(config)) {`
	`61`	`+ : TraversabilityEstimator(TraversabilityEstimator::Config{}),`
	`62`	`+ config(config::checkValid(config)) {`
`62`	`63`	`auto nh = ianvs::NodeHandle::this_node();`
`63`	`64`	`sub_ = nh.create_subscription<nav_msgs::msg::OccupancyGrid>(`
`64`	`65`	`config.input_topic,`