[RotationShimController] fix: rotate to goal heading (ros-navigation#4724)

Add frame_id to goal when rotating towards goal heading, otherwise the
transform would fail. This bug was introduced in 30e2cde by not setting
the frame_id.

Signed-off-by: agennart <[email protected]>
Co-authored-by: agennart <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>

Author: 2 people

nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp

@@ -269,6 +269,7 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathGoal()
   }
 
   auto goal = current_path_.poses.back();
+  goal.header.frame_id = current_path_.header.frame_id;
   goal.header.stamp = clock_->now();
   return goal;
 }