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hot patch to fix transform error in MPPI caused by #3425 (#3458)
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(cherry picked from commit d429143)
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SteveMacenski authored and mergify[bot] committed Mar 8, 2023
1 parent 7219d27 commit a836502
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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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