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[Graceful Controller] Fix Incorrect Motion Target Heading output by controller #5530

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Merged
merged 5 commits into from
Oct 8, 2025
Merged

[Graceful Controller] Fix Incorrect Motion Target Heading output by controller #5530

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f628f1b
Fix graceful controller lookahead bug
SakshayMahna Sep 17, 2025
8ceba02
Shorten logic with goal_pose
SakshayMahna Sep 25, 2025
2cce476
Merge branch 'ros-navigation:main' into graceful-lookahead-bug
SakshayMahna Oct 4, 2025
1205f7d
Add Linear Interpolation Fix
SakshayMahna Oct 4, 2025
c1faeca
Update const double and comments
SakshayMahna Oct 7, 2025
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4 changes: 2 additions & 2 deletions nav2_util/src/controller_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,8 +126,8 @@ geometry_msgs::msg::PoseStamped getLookAheadPoint(
// Calculate orientation towards interpolated position
// Convert yaw to quaternion
double yaw = atan2(
point.y - prev_pose_it->pose.position.y,
point.x - prev_pose_it->pose.position.x);
goal_pose_it->pose.position.y - prev_pose_it->pose.position.y,
goal_pose_it->pose.position.x - prev_pose_it->pose.position.x);

geometry_msgs::msg::PoseStamped pose;
pose.header.frame_id = prev_pose_it->header.frame_id;
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