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Replace last pose if only orientation differs in Navfn (backport #5490) #5491

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Merged
SteveMacenski merged 1 commit into from
Aug 27, 2025
Merged

Replace last pose if only orientation differs in Navfn (backport #5490) #5491

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9 changes: 7 additions & 2 deletions nav2_navfn_planner/src/navfn_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -353,18 +353,23 @@ NavfnPlanner::smoothApproachToGoal(
const geometry_msgs::msg::Pose & goal,
nav_msgs::msg::Path & plan)
{
// Replace the last pose of the computed path if it's actually further away
// to the second to last pose than the goal pose.
if (plan.poses.size() >= 2) {
auto second_to_last_pose = plan.poses.end()[-2];
auto last_pose = plan.poses.back();
// Replace the last pose of the computed path if it's actually further away
// to the second to last pose than the goal pose.
if (
squared_distance(last_pose.pose, second_to_last_pose.pose) >
squared_distance(goal, second_to_last_pose.pose))
{
plan.poses.back().pose = goal;
return;
}
// Replace the last pose of the computed path if its position matches but orientation differs
if (squared_distance(last_pose.pose, goal) < 1e-6) {
plan.poses.back().pose = goal;
return;
}
}
geometry_msgs::msg::PoseStamped goal_copy;
goal_copy.pose = goal;
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