[RotationShimController] fix: rotate to goal heading

gennartan commented 1 month ago

Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id.

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	4332
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Fix a bug.

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

[ ] Check that any new parameters added are updated in docs.nav2.org
[ ] Check that any significant change is added to the migration guide
[ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
[ ] Check that any new functions have Doxygen added
[ ] Check that any new features have test coverage
[ ] Check that any new plugins is added to the plugins page
[ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

codecov[bot] commented 1 month ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Files with missing lines	Coverage Δ
...m_controller/src/nav2_rotation_shim_controller.cpp	`95.23% <100.00%> (+0.02%)`	:arrow_up:

... and 1 file with indirect coverage changes

SteveMacenski commented 1 month ago

Thanks!

ros-navigation / navigation2