bug fix (ros-navigation#4160) (ros-navigation#4162)

Signed-off-by: Tianchu <[email protected]> (cherry picked from commit 623434b) Co-authored-by: Chortine <[email protected]>
EnjoyRobotics · Apr 9, 2024 · 3516f7a · 3516f7a
1 parent 3149de9
commit 3516f7a
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp
@@ -314,6 +314,7 @@ inline size_t findPathFurthestReachedPoint(const CriticData & data)
 
   for (size_t i = 0; i < dists.shape(0); i++) {
     min_id_by_path = 0;
+    min_distance_by_path = std::numeric_limits<float>::max();
     for (size_t j = 0; j < dists.shape(1); j++) {
       cur_dist = dists(i, j);
       if (cur_dist < min_distance_by_path) {