Add goal pose to CriticData #4812
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Signed-off-by: redvinaa <redvinaa@gmail.com>
redvinaa
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Please check implementation and when everything is correct, I'll port to rolling |
SteveMacenski
requested changes
Dec 20, 2024
| @@ -92,13 +92,15 @@ geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands( | |||
| last_time_called_ = clock_->now(); | |||
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| std::lock_guard<std::mutex> param_lock(*parameters_handler_->getLock()); | |||
| geometry_msgs::msg::Pose goal = path_handler_.getTransformedGoal().pose; | |||
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Shouldn't we get the goal as transformed_plan.poses.back()? There's no reason to do another TF operation I don't think and we can find it on L98 below transformPath() instead
| @@ -119,7 +119,7 @@ void CostCritic::score(CriticData & data) | |||
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| // If near the goal, don't apply the preferential term since the goal is near obstacles | |||
| bool near_goal = false; | |||
| if (utils::withinPositionGoalTolerance(near_goal_distance_, data.state.pose.pose, data.path)) { | |||
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I much prefer this API so that its explicit about what information that withinPositionGoalTolerance is working on instead of handing it everything and then having to reference the implementation to know what data its using. I think you can just update the existing withinPositionGoalTolerance() method instead - it seems like a pretty trivial change
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