add :correction arg in :move-to-wait

jsk-ros-pkg · Nov 8, 2019 · 57d4d29 · 57d4d29
1 parent 057f9b5
commit 57d4d29
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l
@@ -1374,7 +1374,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
      (send move-base-action :send-goal move-base-goal-msg)
      move-base-goal-msg))
   (:move-to-wait
-   (&rest args &key (retry 10) (frame-id "world") &allow-other-keys)
+   (&rest args &key (retry 10) (frame-id "world") (correction t) &allow-other-keys)
    (let (ret (count 0) (tm (ros::time-now))
 	     (map-to-frame move-base-goal-map-to-frame)
              (coords move-base-goal-coords))
@@ -1400,7 +1400,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
            (setq ret t))
        (incf count))
      (ros::ros-info "move-to : ~A" (if ret 'succeeded 'failed))
-     (when ret
+     (when (and ret correction)
        (dotimes (i 2)
          (let* ((timestamp (ros::time-now))
                 (mret (send *tfl* :wait-for-transform "map" frame-id timestamp 5))