Magnezijum-Robotics/magrob
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DWM -> DWA (Dynamic window approach)

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Pimpest
2025-03-23 10:26:47 +01:00
parent 39d1f5e8dc
commit 2f279896a7
8 changed files with 43 additions and 43 deletions
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4
mg_navigation/src/mg_navigation.cpp
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@ -4,7 +4,7 @@
#include "rclcpp/rclcpp.hpp"
#include "mg_navigation.hpp"
#include "handlers/dwm.hpp"
#include "handlers/dwa.hpp"
namespace mg {
@ -40,7 +40,7 @@ namespace mg {
template <typename T>
void MgNavigationServer::execute(const std::shared_ptr<rclcpp_action::ServerGoalHandle<T> > gh) {
DWM<T> dwm = DWM<T>(gh, tf2_buffer, *this);
DWA<T> dwm = DWA<T>(gh, tf2_buffer, *this);
dwm.execute();
is_processing = false;
mtx.unlock();