From 1ca87bea8b38a10f5335e9f0caa89969d4698826 Mon Sep 17 00:00:00 2001 From: Guillaume Doisy Date: Wed, 21 Jun 2023 19:48:20 +0100 Subject: [PATCH] fix default behavior (enforce_path_inversion: false) --- nav2_mppi_controller/src/path_handler.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/nav2_mppi_controller/src/path_handler.cpp b/nav2_mppi_controller/src/path_handler.cpp index 12f0bb42aae..f1022513f2b 100644 --- a/nav2_mppi_controller/src/path_handler.cpp +++ b/nav2_mppi_controller/src/path_handler.cpp @@ -174,7 +174,9 @@ void PathHandler::setPath(const nav_msgs::msg::Path & plan) { global_plan_ = plan; global_plan_up_to_inversion_ = global_plan_; - inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_); + if (enforce_path_inversion_) { + inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_); + } } nav_msgs::msg::Path & PathHandler::getPath() {return global_plan_;}