Publish generated path to use for visualisation

2025-04-18 22:04:04 +02:00
parent ec831bd334
commit aeaf36fc2b
6 changed files with 12 additions and 2 deletions
--- a/mg_navigation/include/handlers/dwa_global.hpp
+++ b/mg_navigation/include/handlers/dwa_global.hpp
@ -22,7 +22,7 @@ namespace mg {

    template <>
    inline void DWA<MgNavigationServer::MoveGlobal>::target_update() {
-        baseNode.path_buffer()->update_path(goal);
+        baseNode.path_buffer()->update_path();
        target_pos = baseNode.path_buffer()->get_next(pos, LOOKAHEAD);
    }