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fix(freespace_planner): fix parking trajectory errors and warnings when parking completed #6696

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Mar 28, 2024
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fix(freespace_planner): fix parking trajectory errors and warnings when parking completed #6696

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3 changes: 3 additions & 0 deletions planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -430,6 +430,9 @@
}

if (is_completed_) {
partial_trajectory_.header = odom_->header;
const auto stop_trajectory = createStopTrajectory(partial_trajectory_);

Check warning on line 434 in planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

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planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp#L434 

Added line #L434 was not covered by tests
trajectory_pub_->publish(stop_trajectory);
return;
}

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