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hot patch to fix transform error in MPPI caused by ros-navigation#3425 (
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ros-navigation#3458) (ros-navigation#3459)

(cherry picked from commit d429143)

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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2 people authored and RBT22 committed Oct 24, 2023
1 parent fe4bf4d commit 1b0f6d7
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1 change: 1 addition & 0 deletions nav2_mppi_controller/src/path_handler.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,7 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame(
// Transform from global plan frame to costmap frame
geometry_msgs::msg::PoseStamped costmap_plan_pose;
global_plan_pose->header.stamp = global_pose.header.stamp;
global_plan_pose->header.frame_id = global_plan_.header.frame_id;
transformPose(costmap_->getGlobalFrameID(), *global_plan_pose, costmap_plan_pose);

// Check if pose is inside the costmap
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