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update

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HiepLM
2026-03-27 13:05:23 +07:00
parent 7df2365d96
commit 01e278befb
1 changed files with 0 additions and 19 deletions
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19
src/Navigations/Packages/move_base/src/move_base.cpp
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@@ -976,12 +976,6 @@ bool move_base::MoveBase::moveTo( const robot_geometry_msgs::PoseStamped &goal,
robot::log_info("[MoveBase::moveTo] Processing goal through action server..."); robot::log_info("[MoveBase::moveTo] Processing goal through action server...");
as_->processGoal(action_goal); as_->processGoal(action_goal);
setTwistLinear(old_linear_fwd_);
setTwistLinear(old_linear_bwd_);
setTwistAngular(old_angular_fwd_);
setTwistAngular(old_angular_rev_);
robot::log_info("[MoveBase::moveTo] Goal processed successfully by action server"); robot::log_info("[MoveBase::moveTo] Goal processed successfully by action server");
} }
catch (const std::exception &e) catch (const std::exception &e)
@@ -1124,11 +1118,6 @@ bool move_base::MoveBase::moveTo(const robot_protocol_msgs::Order &msg,
} }
as_->processGoal(action_goal); as_->processGoal(action_goal);
setTwistLinear(old_linear_fwd_);
setTwistLinear(old_linear_bwd_);
setTwistAngular(old_angular_fwd_);
setTwistAngular(old_angular_rev_);
} }
catch (const std::exception &e) catch (const std::exception &e)
{ {
@@ -1290,10 +1279,6 @@ bool move_base::MoveBase::dockTo(const std::string &marker, const robot_geometry
robot::log_info("[MoveBase::moveTo] Processing goal through action server..."); robot::log_info("[MoveBase::moveTo] Processing goal through action server...");
as_->processGoal(action_goal); as_->processGoal(action_goal);
setTwistLinear(old_linear_fwd_);
setTwistLinear(old_linear_bwd_);
setTwistAngular(old_angular_fwd_);
setTwistAngular(old_angular_rev_);
robot::log_info("[MoveBase::moveTo] Goal processed successfully by action server"); robot::log_info("[MoveBase::moveTo] Goal processed successfully by action server");
} }
catch (const std::exception &e) catch (const std::exception &e)
@@ -1440,10 +1425,6 @@ bool move_base::MoveBase::dockTo(const robot_protocol_msgs::Order &msg,
return false; return false;
} }
as_->processGoal(action_goal); as_->processGoal(action_goal);
setTwistLinear(old_linear_fwd_);
setTwistLinear(old_linear_bwd_);
setTwistAngular(old_angular_fwd_);
setTwistAngular(old_angular_rev_);
} }
catch (const std::exception &e) catch (const std::exception &e)
{ {