From 5257f6a12698c4a54f1821d06eae9a571b66ca77 Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Fri, 8 Jul 2022 09:08:22 -0600 Subject: [PATCH] zero z values in rpp transformed plan --- .../src/regulated_pure_pursuit_controller.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp index 3428faae85..33166c7af1 100644 --- a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp +++ b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp @@ -695,6 +695,7 @@ nav_msgs::msg::Path RegulatedPurePursuitController::transformGlobalPlan( stamped_pose.header.stamp = robot_pose.header.stamp; stamped_pose.pose = global_plan_pose.pose; transformPose(costmap_ros_->getBaseFrameID(), stamped_pose, transformed_pose); + transformed_pose.pose.position.z = 0.0; return transformed_pose; };