Pitt-RAS / racecar

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Planner does not handle transforms properly #23

Closed asaba96 closed 4 years ago

asaba96 commented 5 years ago

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.

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

asaba96 commented 4 years ago

fixed in #31