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Fix PurePursuitController Implementation Issues #97

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Fix PurePursuitController Implementation Issues #97

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10 changes: 5 additions & 5 deletions ..._pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,19 +27,19 @@ class PurePursuitController : public nav2_core::Controller
~PurePursuitController() override = default;

void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;


void cleanup() override;
void activate() override;
void deactivate() override;
void setSpeedLimit(const double & speed_limit, const bool & percentage) override;

geometry_msgs::msg::TwistStamped computeVelocityCommands(
const geometry_msgs::msg::PoseStamped & pose,
const geometry_msgs::msg::Twist & velocity
const geometry_msgs::msg::Twist & velocity,
nav2_core::GoalChecker * goal_checker) override;

void setPlan(const nav_msgs::msg::Path & path) override;
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2 changes: 1 addition & 1 deletion nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
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Expand Up @@ -255,7 +255,7 @@ bool PurePursuitController::transformPose(
const rclcpp::Duration & transform_tolerance
) const
{
// Implementation taken as is fron nav_2d_utils in nav2_dwb_controller
// Implementation taken as is from nav_2d_utils in nav2_dwb_controller

if (in_pose.header.frame_id == frame) {
out_pose = in_pose;
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