From 81d2c098ead019eac30a39e92e8bac2e7efd50c4 Mon Sep 17 00:00:00 2001
From: StetroF <120172218+StetroF@users.noreply.github.com>
Date: Wed, 15 May 2024 23:48:48 +0800
Subject: [PATCH] Update path_longer_on_approach.cpp (#4344)

Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose

Signed-off-by: StetroF <120172218+StetroF@users.noreply.github.com>
---
 .../plugins/decorator/path_longer_on_approach.cpp               | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
index d4b40b0964..b8c5bdbb46 100644
--- a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
+++ b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
 {
   return new_path != old_path && old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back() == new_path.poses.back();
+         old_path.poses.back().pose == new_path.poses.back().pose;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(