initialize last_oscillation_pose_

naturerobots · Nov 23, 2023 · f04bc20 · f04bc20
1 parent c02460e
commit f04bc20
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/mbf_abstract_nav/src/move_base_action.cpp b/mbf_abstract_nav/src/move_base_action.cpp
@@ -150,6 +150,7 @@ void MoveBaseAction::start(GoalHandle &goal_handle)
     return;
   }
   goal_pose_ = goal.target_pose;
+  last_oscillation_pose_ = robot_pose_;
 
   // wait for server connections
   if (!action_client_get_path_.waitForServer(connection_timeout) ||