Skip to content

[backport] [RotationShimController] fix: rotate on short paths (#4716) #54

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
RBT22 wants to merge 1 commit into from
Closed

[backport] [RotationShimController] fix: rotate on short paths (#4716) #54

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -258,10 +258,10 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathPt()
}
}

throw nav2_core::ControllerException(
std::string(
"Unable to find a sampling point at least %0.2f from the robot,"
"passing off to primary controller plugin.", forward_sampling_distance_));
auto goal = current_path_.poses.back();
goal.header.frame_id = current_path_.header.frame_id;
goal.header.stamp = clock_->now();
return goal;
}

geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathGoal()
Expand Down