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fix(freespace_planning_algorithms): fix issue of astar search planner not reaching goal pose #6562

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Apr 10, 2024
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fix(freespace_planning_algorithms): fix issue of astar search planner not reaching goal pose #6562

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11 changes: 11 additions & 0 deletions planning/freespace_planning_algorithms/src/astar_search.cpp
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Original file line number Diff line number Diff line change
@@ -292,6 +292,17 @@ void AstarSearch::setPath(const AstarNode & goal_node)
// From the goal node to the start node
const AstarNode * node = &goal_node;

// push exact goal pose first
geometry_msgs::msg::PoseStamped pose;
pose.header = header;
pose.pose = local2global(costmap_, goal_pose_);

PlannerWaypoint pw;
pw.pose = pose;
pw.is_back = node->is_back;
waypoints_.waypoints.push_back(pw);

// push astar nodes poses
while (node != nullptr) {
geometry_msgs::msg::PoseStamped pose;
pose.header = header;