From 225d90c3ef243629e43eaf1916f0751eb5ab68c7 Mon Sep 17 00:00:00 2001 From: agennart Date: Thu, 17 Oct 2024 08:14:25 +0200 Subject: [PATCH] [RotationShimController] fix: rotate to goal heading 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 --- .../src/nav2_rotation_shim_controller.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp index bb77879c7f7..f5fcf4c5b27 100644 --- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp +++ b/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; }