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fix bug in orientation filtering #4840

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Merged
merged 2 commits into from
Jan 10, 2025
Merged

fix bug in orientation filtering #4840

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c49d3ca
fix bug in orientation filtering
mikeferguson Jan 10, 2025
0c755e4
account for floating point error
mikeferguson Jan 10, 2025
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12 changes: 8 additions & 4 deletions nav2_graceful_controller/src/graceful_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <memory>
#include <mutex>

#include "angles/angles.h"
#include "nav2_core/controller_exceptions.hpp"
#include "nav2_util/geometry_utils.hpp"
#include "nav2_graceful_controller/graceful_controller.hpp"
Expand Down Expand Up @@ -426,12 +427,15 @@ void GracefulController::computeDistanceAlongPath(
void GracefulController::validateOrientations(
std::vector<geometry_msgs::msg::PoseStamped> & path)
{
// This really shouldn't happen
if (path.empty()) {return;}
// We never change the orientation of the first & last pose
// So we need at least three poses to do anything here
if (path.size() < 3) {return;}

// Check if we actually need to add orientations
for (size_t i = 1; i < path.size() - 1; ++i) {
if (tf2::getYaw(path[i].pose.orientation) != 0.0) {return;}
double initial_yaw = tf2::getYaw(path[1].pose.orientation);
for (size_t i = 2; i < path.size() - 1; ++i) {
double this_yaw = tf2::getYaw(path[i].pose.orientation);
if (angles::shortest_angular_distance(this_yaw, initial_yaw) > 1e-6) {return;}
}

// For each pose, point at the next one
Expand Down
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