Removed global_plan_ member.

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Removed global_plan_ member. #105

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Last PR to fix #97 - removed TrackingPidLocalPlanner::global_plan_ member variable.

Please check this one carefully. @Rayman thought not republishing the plan in TrackingPidLocalPlanner::reconfigure_pid() would be ok, but wasn't entirely sure.

Timple commented 2 years ago

I'm okay without the republish. As we shouldn't modify the global plan.

But I don't like the global_plan_copy name. Because it's only a copy for a very brief moment. Because then it's modified and not a copy anymore.

How about global_plan_map_frame? Because that's what we're achieving.

lewie-donckers commented 2 years ago

global_plan_map_frame

@Timple fixed!