bug fix (ros-navigation#4160)

Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>
enricosutera · May 19, 2024 · c5b34b7 · c5b34b7
1 parent 921588e
commit c5b34b7
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
@@ -314,6 +314,7 @@ inline size_t findPathFurthestReachedPoint(const CriticData & data)
 
   for (size_t i = 0; i < dists.shape(0); i++) {
     min_id_by_path = 0;
+    min_distance_by_path = std::numeric_limits<float>::max();
     for (size_t j = 0; j < dists.shape(1); j++) {
       cur_dist = dists(i, j);
       if (cur_dist < min_distance_by_path) {