zero z values in rpp transformed plan (ros-navigation#3066)

jwallace42 · Dec 14, 2022 · 02a8dab · 02a8dab
1 parent e63eae1
commit 02a8dab
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -695,6 +695,7 @@ nav_msgs::msg::Path RegulatedPurePursuitController::transformGlobalPlan(
       stamped_pose.header.stamp = robot_pose.header.stamp;
       stamped_pose.pose = global_plan_pose.pose;
       transformPose(costmap_ros_->getBaseFrameID(), stamped_pose, transformed_pose);
+      transformed_pose.pose.position.z = 0.0;
       return transformed_pose;
     };