update path

src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp

@@ -398,7 +398,6 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
   else if (!ret_nav_)
   {
     traj = nav_algorithm_->calculator(pose, velocity);
-
     if (!dkpl_.empty() && dkpl_.front()->initialized_ && dkpl_.front()->is_detected_ && !dkpl_.front()->is_goal_reached_)
     {
       if (dkpl_.front()->docking_nav_ && !dkpl_.front()->docking_planner_)
@@ -406,9 +405,17 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
         traj = dkpl_.front()->docking_nav_->calculator(pose, velocity);
       }
     }
+    local_plan_.header.stamp = robot::Time::now();
+    robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(traj.poses, costmap_robot_->getBaseFrameID(), robot::Time::now());
+    local_plan_ = robot_nav_2d_utils::pathToPath(path);
   }
   else
+  {
     traj = rotate_algorithm_->calculator(pose, velocity);
+    local_plan_.header.stamp = robot::Time::now();
+    robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(traj.poses, costmap_robot_->getBaseFrameID(), robot::Time::now());
+    local_plan_ = robot_nav_2d_utils::pathToPath(path);
+  }
 
   cmd_vel.velocity = traj.velocity;
   return cmd_vel;