Removed additional sign multiplication (#3088)

ros-navigation · Aug 19, 2022 · ef76b5b · ef76b5b
1 parent 82a16dc
commit ef76b5b
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
@@ -341,7 +341,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
       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