Reworked by adding comment.

nobleo · Mar 3, 2022 · c615c89 · c615c89
1 parent 16acb5e
commit c615c89
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/path_tracking_pid_local_planner.cpp b/src/path_tracking_pid_local_planner.cpp
@@ -222,6 +222,9 @@ std::optional<geometry_msgs::Twist> TrackingPidLocalPlanner::computeVelocityComm
     auto cmd_vel = geometry_msgs::Twist();
     cmd_vel.linear.x = pid_controller_.getControllerState().current_x_vel;
     cmd_vel.angular.z = pid_controller_.getControllerState().current_yaw_vel;
+    // At the first call of computeVelocityCommands() we can't calculate a cmd_vel. We can't return
+    // false because of https://github.com/magazino/move_base_flex/issues/195 so the current
+    // velocity is send instead.
     return cmd_vel;
   }
   if (dt < ros::Duration(0) || dt > ros::Duration(DT_MAX)) {