fix(obstacle_avoidance_planner): isPathGoalChanged (autowarefoundatio…

…n#2205) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
HansRobo · Dec 16, 2022 · bd76aee · bd76aee
1 parent cc38c90
commit bd76aee
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -1001,7 +1001,7 @@ bool ObstacleAvoidancePlanner::checkReplan(const PlannerData & planner_data)
     return true;
   }
 
-  if (isPathGoalChanged(planner_data)) {
+  if (isPathGoalChanged(p)) {
     RCLCPP_INFO(get_logger(), "Replan with resetting optimization since path goal was changed.");
     resetPrevOptimization();
     return true;
@@ -1077,7 +1077,7 @@ bool ObstacleAvoidancePlanner::isPathGoalChanged(const PlannerData & planner_dat
 {
   const auto & p = planner_data;
 
-  if (prev_path_points_ptr_) {
+  if (!prev_path_points_ptr_) {
     return false;
   }