Normalized angle passed as simple rotate goal

2026-03-06 13:45:44 +01:00
parent 83011ba187
commit ae3d0550cd
1 changed files with 1 additions and 1 deletions
--- a/toid_behaviors/src/simple_rotate.cpp
+++ b/toid_behaviors/src/simple_rotate.cpp
@@ -36,7 +36,7 @@ ResultStatus SimpleRotateBehavior::onStart(
  const std::shared_ptr<const RotateAction::Goal> command, const geometry_msgs::msg::Pose & pose,
  const geometry_msgs::msg::Twist & vel)
 {
-  target_angle_ = command->angle;
+  target_angle_ = angles::normalize_angle(command->angle);
  min_turn_angle_ = abs(command->min_angle);
  initial_direction_ = (command->min_angle >= 0.0) ? 1.0 : -1.0;