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/src/path_buffer.cpp
+++ b/mg_navigation/src/path_buffer.cpp
@ -47,6 +47,7 @@ namespace mg {
            resp_    = client_->async_send_request(req).share();
        }
        if (resp_.valid()) {
+
            path_msg_ = resp_.get();
            auto req  = std::make_shared<PathService::Request>();
            req->x    = goal_->x;
@ -68,6 +69,7 @@ namespace mg {
            resp_    = client_->async_send_request(req).share();
        }

+        resp_.wait();
        path_msg_ = resp_.get();
        auto req  = std::make_shared<PathService::Request>();
        req->x    = goal_->x;