Not cancelling after receiving a 0-length path works better apparently

fmessmer · May 4, 2022 · f947ad7 · f947ad7
1 parent d9f2908
commit f947ad7
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/src/path_tracker_node.cpp b/src/path_tracker_node.cpp
@@ -149,19 +149,19 @@ int main(int argc, char *argv[])
       else
       {
         ROS_WARN_STREAM("Ignoring sliced SegmentPath of length " << sliced_path.size());
-        if (has_plan)
-        {
-          tplp->cancel();
-        }
+        // if (has_plan)
+        // {
+        //   tplp->cancel();
+        // }
       }
     }
     else
     {
       ROS_WARN_STREAM("Ignoring SegmentPath of length " << path->waypoints.poses.size());
-      if(has_plan)
-      {
-        tplp->cancel();
-      }
+      // if(has_plan)
+      // {
+      //   tplp->cancel();
+      // }
     }
   };
   auto segment_sub = nh.subscribe<amr_road_network_msgs::SegmentPath>("segment_path", 1, receiveSegmentPath);