reset looped_route when posing the goal

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Apr 24, 2022 · 7c3dedc · 7c3dedc
1 parent b057d02
commit 7c3dedc
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/mission_planner/lib/mission_planner_base.cpp b/planning/mission_planner/lib/mission_planner_base.cpp
@@ -113,6 +113,8 @@ void MissionPlanner::loopCallback(const std_msgs::msg::Bool::ConstSharedPtr msg)
 void MissionPlanner::goalPoseCallback(
   const geometry_msgs::msg::PoseStamped::ConstSharedPtr goal_msg_ptr)
 {
+  is_looped_route_ = false;
+
   const auto start_pose = *self_pose_listener_.getCurrentPose();
 
   // set goal pose