ackermann motion model bug (#3498)

Prevent cost to be modified twice.
ros-navigation · Mar 22, 2023 · 482017c · 482017c
1 parent 0822a14
commit 482017c
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_mppi_controller/src/critics/constraint_critic.cpp b/nav2_mppi_controller/src/critics/constraint_critic.cpp
@@ -65,6 +65,7 @@ void ConstraintCritic::score(CriticData & data)
  std::move(out_of_min_bounds_motion) +
  std::move(out_of_turning_rad_motion)) *
  data.model_dt, {1}, immediate) * weight_, power_);
+ return;
  }
 
  data.costs += xt::pow(