fix default behavior (enforce_path_inversion: false) (#3643)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
ros-navigation · Jun 21, 2023 · fcea9ec · fcea9ec
1 parent 1cbc2db
commit fcea9ec
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/nav2_mppi_controller/src/path_handler.cpp b/nav2_mppi_controller/src/path_handler.cpp
@@ -174,7 +174,9 @@ void PathHandler::setPath(const nav_msgs::msg::Path & plan)
 {
   global_plan_ = plan;
   global_plan_up_to_inversion_ = global_plan_;
-  inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_);
+  if (enforce_path_inversion_) {
+    inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_);
+  }
 }
 
 nav_msgs::msg::Path & PathHandler::getPath() {return global_plan_;}