Merge pull request #418 from knorth55/add-correction-arg

[pr2eus] Add correction arg in :move-to-wait
jsk-ros-pkg · Dec 16, 2019 · d51bdcf · d51bdcf
2 parents 1d2cf7f + 7ccbfbe
commit d51bdcf
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l
@@ -1379,7 +1379,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
      (send move-base-action :send-goal move-base-goal-msg)
      move-base-goal-msg))
   (:move-to-wait
-   (&rest args &key (retry 10) (frame-id "world") &allow-other-keys)
+   (&rest args &key (retry 10) (frame-id "world") (correction t) &allow-other-keys)
    (let (ret (count 0) (tm (ros::time-now))
 	     (map-to-frame move-base-goal-map-to-frame)
              (coords move-base-goal-coords))
@@ -1406,7 +1406,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
        (incf count))
      (ros::ros-info "move-to : ~A" (if ret 'succeeded 'failed))
      ;;
-     (when ret
+     (when (and ret correction)
        (let (diff diff-len current-coords lret map-goal-coords)
          ;;
          (setq map-goal-coords