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Added publishZeroVelocity() when state_ is changed to PLANNING. #1180

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Added publishZeroVelocity() when state_ is changed to PLANNING. #1180

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c98f2cb
Added publishZeroVelocity() when state_ is changed to PLANNING.
ryan-sandzimier Nov 20, 2021
6d3950c
Added parameter stop_before_planning
ryan-sandzimier Jun 21, 2022
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2 changes: 2 additions & 0 deletions move_base/src/move_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -706,6 +706,7 @@ namespace move_base {
//we'll make sure that we reset our state for the next execution cycle
recovery_index_ = 0;
state_ = PLANNING;
publishZeroVelocity();

//we have a new goal so make sure the planner is awake
lock.lock();
Expand Down Expand Up @@ -744,6 +745,7 @@ namespace move_base {
//we want to go back to the planning state for the next execution cycle
recovery_index_ = 0;
state_ = PLANNING;
publishZeroVelocity();

//we have a new goal so make sure the planner is awake
lock.lock();
Expand Down