Removed additional sign multiplication (ros-navigation#3088) (ros-nav…

…igation#3126) (cherry picked from commit ef76b5b) Co-authored-by: autome <[email protected]>
RobotCodeLab · Sep 12, 2022 · 0aa7342 · 0aa7342
1 parent 83d592a
commit 0aa7342
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -304,7 +304,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
       costAtPose(pose.pose.position.x, pose.pose.position.y), linear_vel, sign);
 
     // Apply curvature to angular velocity after constraining linear velocity
-    angular_vel = sign * linear_vel * curvature;
+    angular_vel = linear_vel * curvature;
   }
 
   // Collision checking on this velocity heading