Fix the criteria for replanning (#405)

Signed-off-by: Michael X. Grey <[email protected]>
open-rmf · Feb 21, 2025 · 0eb5bee · 0eb5bee
1 parent e4d1d87
commit 0eb5bee
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/EasyFullControl.cpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/EasyFullControl.cpp
@@ -1085,7 +1085,7 @@ void EasyCommandHandle::follow_new_path(
             {
               const double dist =
                 (*l.location() - wp.position().block<2, 1>(0, 0)).norm();
-              if (dist <= nav_params->max_merge_waypoint_distance)
+              if (dist <= nav_params->max_merge_lane_distance)
               {
                 found_connection = true;
                 i0 = 0;