Accept path of length 1 (#2495)

ros-navigation · Aug 9, 2021 · 7adf691 · 7adf691
1 parent 792893a
commit 7adf691
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
@@ -329,7 +329,7 @@ bool AStarAlgorithm<Node2D>::backtracePath(NodePtr node, CoordinateVector & path
     current_node = current_node->parent;
   }
 
-  return path.size() > 1;
+  return path.size() > 0;
 }
 
 template<typename NodeT>
@@ -346,7 +346,7 @@ bool AStarAlgorithm<NodeT>::backtracePath(NodePtr node, CoordinateVector & path)
     current_node = current_node->parent;
   }
 
-  return path.size() > 1;
+  return path.size() > 0;
 }
 
 template<typename NodeT>