Commits on Jun 24, 2022

1. - Modified findVelocitySignChange method to transform cusp into robot… ( …

   #3036)
   
   * - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp
   
   * - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
   - Now a placeholder pose, input pose and desired frame id is passed.
   
   * - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
   - Now a placeholder pose, input pose and desired frame id is passed.
   
   Signed-off-by: Steven Brills <sbrills@hotmail.com>
   
   * Failed lint check due to stray blank line.  Removed the blank line
   
   * - Modified findVelocitySignChange function to take the transformed plan in robot's frame
   - Removed need to pass pose to the findVelocitySignChange function
   
   * - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.
   
   Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
   
   * - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.
   
   Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
   
   * - transformGlobalPlanWrapper call bug fix
   
   Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
   
   * - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.
   
   Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
   
   * - Missing ; in test method
   
   Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
   
   * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead
   
   * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead
   
   Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
   
   Co-authored-by: Steven Brills <sbrills@aethon.com>
   (cherry picked from commit 99bec08)

   

   stevenbrills authored and mergify[bot] committed Jun 24, 2022
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