Trajectory loop closure bool

[horverno]

Add a boolean and detect whether trajectory is linear (loop closure false) circular (loop closure true).

If false, stop after last waypoint reached

wayp_plan_tools/src/waypoint_to_target.cpp

Lines 228 to 236 in 7232176

	if (target_waypoint >= int(msg.poses.size() - 1))
	{
	if (last_waypoint_reached == false)
	{
	last_waypoint_reached_time = this->now();
	}
	RCLCPP_INFO_STREAM(this->get_logger(), "Last waypoint reached " << std::fixed << std::setprecision(1) << (last_waypoint_reached_time - this->now()).nanoseconds() / -1e9 << "s ago");
	last_waypoint_reached = true;
	}

If true, repeat it

wayp_plan_tools/src/waypoint_to_target.cpp

Lines 169 to 172 in 7232176

	if(closest_waypoint > int(msg.poses.size()) - 10)
	{
	closest_waypoint = 0;
	}