From 0eb5bee7bba5ac16b6f09f70bfe2ec9515345077 Mon Sep 17 00:00:00 2001 From: Grey Date: Fri, 21 Feb 2025 23:00:04 +0800 Subject: [PATCH] Fix the criteria for replanning (#405) Signed-off-by: Michael X. Grey --- rmf_fleet_adapter/src/rmf_fleet_adapter/agv/EasyFullControl.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index 5569d6f9..5ce3e2fb 100644 --- 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;