Update path_longer_on_approach.cpp (ros-navigation#4344)

Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose Signed-off-by: StetroF <[email protected]> Signed-off-by: enricosutera <[email protected]>
enricosutera · May 19, 2024 · 866d29a · 866d29a
1 parent 7fe62f7
commit 866d29a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
 {
   return new_path != old_path && old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back() == new_path.poses.back();
+         old_path.poses.back().pose == new_path.poses.back().pose;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(