From d67120062f094b64c3707d32bbf72cf4aa08b6eb Mon Sep 17 00:00:00 2001 From: kminoda Date: Thu, 21 Sep 2023 16:05:52 +0900 Subject: [PATCH] fix(ekf_localizer): fix bug in #5054 Signed-off-by: kminoda --- localization/ekf_localizer/src/ekf_localizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 3c3c38dcb1561..e1ee4f7cfc8e0 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -387,7 +387,7 @@ void EKFLocalizer::callbackTwistWithCovariance( { // Ignore twist if velocity is too small. // Note that this inequality must not include "equal". - if (msg->twist.twist.linear.x < params_.threshold_observable_velocity_mps) { + if (mstd::abs(sg->twist.twist.linear.x) < params_.threshold_observable_velocity_mps) { msg->twist.covariance[0 * 6 + 0] = 10000.0; } twist_queue_.push(msg);