Fix nav2_velocity_smoother for sim time (#3360)

* Fix nav2_velocity_smoother for sim time * Update nav2_velocity_smoother/src/velocity_smoother.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
ros-navigation · Feb 10, 2023 · 739df47 · 739df47
1 parent 76a2106
commit 739df47
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -209,6 +209,11 @@ double VelocitySmoother::applyConstraints(
 
 void VelocitySmoother::smootherTimer()
 {
+  // Wait until the first command is received
+  if (!command_) {
+    return;
+  }
+
   auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();
 
   // Check for velocity timeout. If nothing received, publish zeros to stop robot