From 3969789ca74f1ed66fb28e314603f4536d675172 Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Sat, 20 Jan 2024 00:49:15 +0100 Subject: [PATCH] `planner` - global path also analysed by the `PathCrossingDetector` [#124] --- src/humap_planner.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/humap_planner.cpp b/src/humap_planner.cpp index b378563f..79a1e600 100644 --- a/src/humap_planner.cpp +++ b/src/humap_planner.cpp @@ -463,7 +463,7 @@ base_local_planner::Trajectory HumapPlanner::findBestTrajectory( auto traj_person = person.getTrajectoryPrediction(); trajs_people.push_back(traj_person); } - if (crossing_.detect(traj_robot_g, trajs_people)) { + if (crossing_.detect(traj_robot_g, global_plan_, trajs_people)) { ROS_WARN_NAMED( "HumapPlanner", "Detected the intersection of robot's and %lu people's trajectories. Gap to the closest person is %5.2f m.",