Update of initial rotation condition

ros-navigation · Nov 13, 2024 · 36d7db6 · 36d7db6
1 parent 14fa7ec
commit 36d7db6
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -292,7 +292,7 @@ void DockingServer::dockRobot()
     while (rclcpp::ok()) {
       try {
         // Perform pure rotation to dock orientation
-        if(initial_rotation_){
+        if(backward_blind_){
           rotateToDock();
         }
 
@@ -773,9 +773,6 @@ DockingServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> paramete
       if (name == "dock_backwards") {
         dock_backwards_ = parameter.as_bool();
       }
-      if (name == "initial_rotation") {
-        initial_rotation_ = parameter.as_bool();
-      }
       if (name == "backward_blind") {
         backward_blind_ = parameter.as_bool();
         initial_rotation_ = parameter.as_bool();