Changed behavior tree actions to ignore costmap

toid_bt/include/toid_bt/plugins/move_coords_action.hpp

@@ -53,6 +53,7 @@ public:
 
     goal.max_speed = max_speed;
     goal.backwards = backwards;
+    goal.mode = 1;
 
     return true;
   }

toid_bt/include/toid_bt/plugins/rotate_action.hpp

@@ -40,6 +40,7 @@ public:
     goal.max_speed = max_speed.value();
     goal.angle = angles::from_degrees(goal.angle);
     goal.min_angle = angles::from_degrees(goal.min_angle);
+    goal.mode = 1;
     return true;
   }
 

toid_bt/include/toid_bt/plugins/rotate_towards_action.hpp

@@ -44,6 +44,7 @@ public:
     goal.angle = std::atan2(y - pose.pose.position.y, x - pose.pose.position.x);
     goal.min_angle = angles::from_degrees(min_angle);
     goal.max_speed = max_speed;
+    goal.mode = 1;
 
     return true;
   }