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- Modified findVelocitySignChange method to transform cusp into robot… (
ros-navigation#3036) * - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. Signed-off-by: Steven Brills <[email protected]> * Failed lint check due to stray blank line. Removed the blank line * - Modified findVelocitySignChange function to take the transformed plan in robot's frame - Removed need to pass pose to the findVelocitySignChange function * - Modified the test file to reflect change in new parameters that findVelocitySignChange expects. Signed-off-by: Steven Brills <[email protected]> * - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object. Signed-off-by: Steven Brills <[email protected]> * - transformGlobalPlanWrapper call bug fix Signed-off-by: Steven Brills <[email protected]> * - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used. Signed-off-by: Steven Brills <[email protected]> * - Missing ; in test method Signed-off-by: Steven Brills <[email protected]> * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead Signed-off-by: Steven Brills <[email protected]> Co-authored-by: Steven Brills <[email protected]>
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