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get_plan: supporting tolerance parameter

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matlabbe
2018-07-09 15:26:39 -04:00
parent 23f661827a
commit 7e155a5abb
1 changed files with 2 additions and 2 deletions
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src/CoreWrapper.cpp
+1 -1
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@@ -2420,7 +2420,7 @@ bool CoreWrapper::getPlanCallback(nav_msgs::GetPlan::Request &req, nav_msgs::Ge
pose = t * pose; pose = t * pose;
} }
if(rtabmap_.computePath(pose)) if(rtabmap_.computePath(pose, req.tolerance))
{ {
NODELET_INFO("Planning: Time computing path = %f s", timer.ticks()); NODELET_INFO("Planning: Time computing path = %f s", timer.ticks());
const std::vector<std::pair<int, Transform> > & poses = rtabmap_.getPath(); const std::vector<std::pair<int, Transform> > & poses = rtabmap_.getPath();