[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]>
angsa-robotics · Dec 9, 2024 · dd3f0af · dd3f0af
1 parent c92f2ad
commit dd3f0af
Showing 1 changed file with 1 addition and 0 deletions.
diff --git 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;
 }