fix bug for adding final goal (#65)

dujeong · web-flow · commit a4a57aae3172 · 2023-04-20T09:36:15.000-07:00
diff --git a/nav2_straightline_planner/src/straight_line_planner.cpp b/nav2_straightline_planner/src/straight_line_planner.cpp
@@ -133,7 +133,10 @@ nav_msgs::msg::Path StraightLine::createPlan(
     global_path.poses.push_back(pose);
   }
 
-  global_path.poses.push_back(goal);
+  geometry_msgs::msg::PoseStamped goal_pose = goal;
+  goal_pose.header.stamp = node_->now();
+  goal_pose.header.frame_id = global_frame_;
+  global_path.poses.push_back(goal_pose);
 
   return global_path;
 }

Original file line number	Diff line number	Diff line change
`@@ -133,7 +133,10 @@ nav_msgs::msg::Path StraightLine::createPlan(`
`133`	`133`	`global_path.poses.push_back(pose);`
`134`	`134`	`}`
`135`	`135`
`136`		`- global_path.poses.push_back(goal);`
	`136`	`+ geometry_msgs::msg::PoseStamped goal_pose = goal;`
	`137`	`+ goal_pose.header.stamp = node_->now();`
	`138`	`+ goal_pose.header.frame_id = global_frame_;`
	`139`	`+ global_path.poses.push_back(goal_pose);`
`137`	`140`
`138`	`141`	`return global_path;`
`139`	`142`	`}`