Update path_longer_on_approach.cpp (#4344)

StetroF · web-flow · commit 7b3dac8be775 · 2024-05-15T08:48:48.000-07:00
Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose

Signed-off-by: StetroF &lt;120172218+StetroF@users.noreply.github.com&gt;
diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
 {
   return new_path != old_path && old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back() == new_path.poses.back();
+         old_path.poses.back().pose == new_path.poses.back().pose;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(

Original file line number	Diff line number	Diff line change
`@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(`
`36`	`36`	`{`
`37`	`37`	`return new_path != old_path && old_path.poses.size() != 0 &&`
`38`	`38`	`new_path.poses.size() != 0 &&`
`39`		`- old_path.poses.back() == new_path.poses.back();`
	`39`	`+ old_path.poses.back().pose == new_path.poses.back().pose;`
`40`	`40`	`}`
`41`	`41`
`42`	`42`	`bool PathLongerOnApproach::isRobotInGoalProximity(`