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updated warning when goal is already reached

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Mathieu Labbe
2015-02-06 17:39:27 -05:00
parent 8f903eaff1
commit d81a9cef23
1 changed files with 2 additions and 2 deletions
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src/CoreWrapper.cpp
+2 -2
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@@ -1052,12 +1052,12 @@ void CoreWrapper::goalCommonCallback(const std::list<std::pair<int, Transform> >
} }
else else
{ {
ROS_WARN("Planning: Cannot compute a path!"); ROS_WARN("Planning: Goal already reached (RGBD/GoalReachedRadius=%fm).", rtabmap_.getGoalReachedRadius());
rtabmap_.clearPath(); rtabmap_.clearPath();
if(goalReachedPub_.getNumSubscribers()) if(goalReachedPub_.getNumSubscribers())
{ {
std_msgs::Bool result; std_msgs::Bool result;
result.data = false; result.data = true;
goalReachedPub_.publish(result); goalReachedPub_.publish(result);
} }
} }