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ros-navigation · Sep 18, 2024 · e61bd07 · e61bd07
1 parent 6e5e0c3
commit e61bd07
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -301,9 +301,6 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
  costmap_ros_->deactivate();
 
  publishZeroVelocity();
- for (auto & controller : controllers_) {
- controller.second->reset();
- }
  vel_publisher_->on_deactivate();
 
  remove_on_set_parameters_callback(dyn_params_handler_.get());
@@ -560,7 +557,7 @@ void ControllerServer::computeControl()
  return;
  } catch (nav2_core::ControllerTimedOut & e) {
  RCLCPP_ERROR(this->get_logger(), "%s", e.what());
- publishZeroVelocity();
+ onGoalExit();
  std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
  result->error_code = Action::Result::CONTROLLER_TIMED_OUT;
  action_server_->terminate_current(result);