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Bugfix tf lookup of goal pose in nav2_controller #2780

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Merged
SteveMacenski merged 1 commit into from
Jan 21, 2022
Merged

Bugfix tf lookup of goal pose in nav2_controller #2780

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2 changes: 1 addition & 1 deletion nav2_controller/include/nav2_controller/controller_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ class ControllerServer : public nav2_util::LifecycleNode
double failure_tolerance_;

// Whether we've published the single controller warning yet
geometry_msgs::msg::Pose end_pose_;
geometry_msgs::msg::PoseStamped end_pose_;

// Last time the controller generated a valid command
rclcpp::Time last_valid_cmd_time_;
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23 changes: 14 additions & 9 deletions nav2_controller/src/controller_server.cpp
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Expand Up @@ -429,18 +429,14 @@ void ControllerServer::setPlannerPath(const nav_msgs::msg::Path & path)
}
controllers_[current_controller_]->setPlan(path);

auto end_pose = path.poses.back();
end_pose.header.frame_id = path.header.frame_id;
rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
nav_2d_utils::transformPose(
costmap_ros_->getTfBuffer(), costmap_ros_->getGlobalFrameID(),
end_pose, end_pose, tolerance);
end_pose_ = path.poses.back();
end_pose_.header.frame_id = path.header.frame_id;
goal_checkers_[current_goal_checker_]->reset();

RCLCPP_DEBUG(
get_logger(), "Path end point is (%.2f, %.2f)",
end_pose.pose.position.x, end_pose.pose.position.y);
end_pose_ = end_pose.pose;
end_pose_.pose.position.x, end_pose_.pose.position.y);

current_path_ = path;
}

Expand Down Expand Up @@ -567,7 +563,16 @@ bool ControllerServer::isGoalReached()

nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());
geometry_msgs::msg::Twist velocity = nav_2d_utils::twist2Dto3D(twist);
return goal_checkers_[current_goal_checker_]->isGoalReached(pose.pose, end_pose_, velocity);

geometry_msgs::msg::PoseStamped transformed_end_pose;
rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
nav_2d_utils::transformPose(
costmap_ros_->getTfBuffer(), costmap_ros_->getGlobalFrameID(),
end_pose_, transformed_end_pose, tolerance);

return goal_checkers_[current_goal_checker_]->isGoalReached(
pose.pose, transformed_end_pose.pose,
velocity);
}

bool ControllerServer::getRobotPose(geometry_msgs::msg::PoseStamped & pose)
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