From f04bc207c28cf068ce0a29636df4ff15d61102c6 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 14 Nov 2023 19:52:23 -0800
Subject: [PATCH] initialize last_oscillation_pose_

---
 mbf_abstract_nav/src/move_base_action.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/mbf_abstract_nav/src/move_base_action.cpp b/mbf_abstract_nav/src/move_base_action.cpp
index 7cd55afe..c994af50 100644
--- a/mbf_abstract_nav/src/move_base_action.cpp
+++ b/mbf_abstract_nav/src/move_base_action.cpp
@@ -150,6 +150,7 @@ void MoveBaseAction::start(GoalHandle &goal_handle)
     return;
   }
   goal_pose_ = goal.target_pose;
+  last_oscillation_pose_ = robot_pose_;
 
   // wait for server connections
   if (!action_client_get_path_.waitForServer(connection_timeout) ||