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Fix duplicate poses with computePlanThroughPoses #5488

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Merged
merged 2 commits into from
Aug 27, 2025
Merged

Fix duplicate poses with computePlanThroughPoses #5488

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fec5771
fix-duplicate-poses
tonynajjar Aug 27, 2025
bcceed9
Update nav2_planner/src/planner_server.cpp
tonynajjar Aug 27, 2025
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14 changes: 11 additions & 3 deletions nav2_planner/src/planner_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -428,9 +428,17 @@ void PlannerServer::computePlanThroughPoses()
throw nav2_core::NoValidPathCouldBeFound(goal->planner_id + " generated a empty path");
}

// Concatenate paths together
concat_path.poses.insert(
concat_path.poses.end(), curr_path.poses.begin(), curr_path.poses.end());
// Concatenate paths together, but skip the first pose of subsequent paths
// to avoid duplicating the connection point
if (i == 0) {
// First path: add all poses
concat_path.poses.insert(
concat_path.poses.end(), curr_path.poses.begin(), curr_path.poses.end());
} else if (curr_path.poses.size() > 1) {
// Subsequent paths: skip the first pose to avoid duplication
concat_path.poses.insert(
concat_path.poses.end(), curr_path.poses.begin() + 1, curr_path.poses.end());
}
concat_path.header = curr_path.header;
}

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