From ae3d0550cdf16f344f1de88a297d03851671d4c4 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Fri, 6 Mar 2026 13:45:44 +0100
Subject: [PATCH] Normalized angle passed as simple rotate goal

---
 toid_behaviors/src/simple_rotate.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/toid_behaviors/src/simple_rotate.cpp b/toid_behaviors/src/simple_rotate.cpp
index 42a9bb2..f31e36d 100644
--- 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;