feat(controller-server): publish_zero_velocity parameter
#4675
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For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity. Signed-off-by: Rein Appeldoorn <[email protected]>
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This pull request is in conflict. Could you fix it @reinzor? |
Codecov ReportAttention: Patch coverage is
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SteveMacenski
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Signed-off-by: Rein Appeldoorn <[email protected]>
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Signed-off-by: Rein Appeldoorn <[email protected]>
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@SteveMacenski can we backport this on Jazzy? I can alter the change so that we maintain ABI compatible. |
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@reinzor sure! An altered version would need to be done, but should be easy enough - basically just use the existing method and add in a comment with this PR number to mention this backport for why the naming doesn't 100% line up |
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…ation#4675) Backport of ros-navigation#4675 Signed-off-by: Rein Appeldoorn <[email protected]>
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…ation#4675) Backport of ros-navigation#4675 Signed-off-by: Rein Appeldoorn <[email protected]>
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…port (#4687) * feat(controller-server): `publish_zero_velocity` parameter (#4675) Backport of #4675 Signed-off-by: Rein Appeldoorn <[email protected]> * Update nav2_controller/src/controller_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Rein Appeldoorn <[email protected]> --------- Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: Rein Appeldoorn <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
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This feature has been verified in production 🙂 Would a Jazzy bloom release be in order? As the last one was from August. |
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For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity.
#4674