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AMRNAV-4963 Add reset function #43

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Merged
tonynajjar merged 1 commit into from
Jun 30, 2023
Merged

AMRNAV-4963 Add reset function #43

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1 change: 1 addition & 0 deletions teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,7 @@ class TebLocalPlannerROS : public nav2_core::Controller
void activate() override;
void deactivate() override;
void cleanup() override;
void reset() override;

/**
* @brief Initializes the teb plugin
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5 changes: 5 additions & 0 deletions teb_local_planner/src/teb_local_planner_ros.cpp
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Expand Up @@ -1139,6 +1139,11 @@ void TebLocalPlannerROS::cleanup() {
return;
}

void TebLocalPlannerROS::reset() {
planner_->clearPlanner();
return;
}

} // end namespace teb_local_planner

// register this planner as a nav2_core::Controller plugin
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