proper main backport

botsandus · Apr 7, 2023 · ede067c · ede067c
1 parent 9b90ae7
commit ede067c
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/nav2_velocity_smoother/package.xml b/nav2_velocity_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_velocity_smoother</name>
-  <version>1.1.5</version>
+  <version>1.0.0</version>
   <description>Nav2's Output velocity smoother</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -209,6 +209,11 @@ double VelocitySmoother::applyConstraints(
 
 void VelocitySmoother::smootherTimer()
 {
+  // Wait until the first command is received
+  if (!command_) {
+    return;
+  }
+
   auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();
 
   // Check for velocity timeout. If nothing received, publish zeros to apply deceleration