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BACKPORT Add controller reset #35

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Merged
tonynajjar merged 1 commit into from
Jul 6, 2023
Merged

BACKPORT Add controller reset #35

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6 changes: 6 additions & 0 deletions nav2_controller/src/controller_server.cpp
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Expand Up @@ -583,6 +583,12 @@ void ControllerServer::publishZeroVelocity()
velocity.header.frame_id = costmap_ros_->getBaseFrameID();
velocity.header.stamp = now();
publishVelocity(velocity);

// Reset the state of the controllers after the task has ended
ControllerMap::iterator it;
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
it->second->reset();
}
}

bool ControllerServer::isGoalReached()
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5 changes: 5 additions & 0 deletions nav2_core/include/nav2_core/controller.hpp
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Expand Up @@ -124,6 +124,11 @@ class Controller
* or in absolute values in false case.
*/
virtual void setSpeedLimit(const double & speed_limit, const bool & percentage) = 0;

/**
* @brief Reset the state of the controller if necessary after task is exited
*/
virtual void reset() {}
};

} // namespace nav2_core
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