From eedcae795a279a4a39de28c9afea243f0d2b2877 Mon Sep 17 00:00:00 2001
From: Saitama <gennartan@users.noreply.github.com>
Date: Thu, 17 Oct 2024 18:16:50 +0200
Subject: [PATCH] [RotationShimController] fix: rotate to goal heading (#4724)

Add frame_id to goal when rotating towards goal heading, otherwise the
transform would fail. This bug was introduced in 30e2cde by not setting
the frame_id.

Signed-off-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: agennart <antoine.gennart@quimesis.be>
---
 .../src/nav2_rotation_shim_controller.cpp                        | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
index de8ce424e2..f75482e8fe 100644
--- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -259,6 +259,7 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathGoal()
   }
 
   auto goal = current_path_.poses.back();
+  goal.header.frame_id = current_path_.header.frame_id;
   goal.header.stamp = clock_->now();
   return goal;
 }