From a389a90c15e4847a08835d7c7a8e931c80a130a9 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Thu, 3 Nov 2022 15:36:09 +0900 Subject: [PATCH] fix(obstacle_avoidance_planner): isPathGoalChanged Signed-off-by: kosuke55 --- planning/obstacle_avoidance_planner/src/node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index a8008e5804b55..aa47a924a76f6 100644 --- 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; }