fix: correct curvature signal on RPP (#2979) (#2995)

* fix: correct curvature signal Signed-off-by: Afonso da Fonseca Braga <[email protected]> * cleanup: move sign's position Signed-off-by: Afonso da Fonseca Braga <[email protected]>
ros-navigation · Jun 2, 2022 · 87af505 · 87af505
1 parent 36c52eb
commit 87af505
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 = linear_vel * curvature;
+    angular_vel = sign * linear_vel * curvature;
   }
 
   // Collision checking on this velocity heading