Closed geopimik closed 7 months ago
You should set the goal_point to None also when the goal is reached!
Otherwise, what will happen if current_pose_callback runs (and it runs 50Hz) and the goal point is not None?
current_pose_callback
Depending on the distance from the goal point it might happen that you publish global_path at 50Hz.
global_path
https://github.com/jaak-peterson/autoware_mini_practice/blob/7df7b776cd80ca3a60784d6644eb98fbcd7ac4b5/practice_4/nodes/planning/global/lanelet2_global_planner.py#L76-L83
OK
geopimik
commented
7 months ago geopimik
commented
7 months ago
You should set the goal_point to None also when the goal is reached!
Otherwise, what will happen if
current_pose_callbackruns (and it runs 50Hz) and the goal point is not None?Depending on the distance from the goal point it might happen that you publish
global_pathat 50Hz.https://github.com/jaak-peterson/autoware_mini_practice/blob/7df7b776cd80ca3a60784d6644eb98fbcd7ac4b5/practice_4/nodes/planning/global/lanelet2_global_planner.py#L76-L83