As seen below, the start node is always at (0,0). This would not be an issue if it were not for the fact that the goal position is not transformed into the base_link frame. Additionally, the plans generated should be transformed and published back out into the odom frame, not the base_link frame.
As seen below, the start node is always at (0,0). This would not be an issue if it were not for the fact that the goal position is not transformed into the
base_link
frame. Additionally, the plans generated should be transformed and published back out into theodom
frame, not thebase_link
frame.https://github.com/Pitt-RAS/racecar/blob/master/src/magellan_motion/src/path_planner/planner.cpp#L102
https://github.com/Pitt-RAS/racecar/blob/master/src/magellan_motion/src/path_planner/planner.cpp#L89
https://github.com/Pitt-RAS/racecar/blob/master/src/magellan_motion/src/path_planner/planner.cpp#L44