[Graceful Controller] Incorrect Motion Target Heading output by controller #5528
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 24.04
- Computer:
- All Computers
- ROS2 Version:
- ROS2 Rolling
- Version or commit hash:
- DDS implementation:
- All DDS Implementation
Steps to reproduce issue
- Enable Graceful Controller Plugin
- Perform any Navigation Workflow
More details here: #5003 (comment)
Expected behavior
The motion target heading for the controller generated path should be in the direction of robot motion.
Actual behavior
The motion target path comes out to be opposite.
