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Fix nav2_velocity_smoother for sim time #3360

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Merged
AlexeyMerzlyakov merged 2 commits into from
Jan 13, 2023
Merged

Fix nav2_velocity_smoother for sim time #3360

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8356a92
Fix nav2_velocity_smoother for sim time
HovorunB Jan 12, 2023
c930a17
Update nav2_velocity_smoother/src/velocity_smoother.cpp
HovorunB Jan 13, 2023
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5 changes: 5 additions & 0 deletions nav2_velocity_smoother/src/velocity_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,11 @@ double VelocitySmoother::applyConstraints(

void VelocitySmoother::smootherTimer()
{
// Wait until the first command is received
if (!command_) {
return;
}

auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();

// Check for velocity timeout. If nothing received, publish zeros to stop robot
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