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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Fix the bug that behavior tree plugin PathLongerOnApproach will not work while using smac planner. #4344

Closed StetroF closed 2 months ago

StetroF commented 2 months ago

See https://github.com/ros-navigation/navigation2/issues/4326. Fix the bug that isPathUpdated function will return false even if the new path is update for the reason that it not only compare the position between new path and old path's last pose.But also compare these two poses 's timestamped which is obviously different.

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Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)