Fix incorrect world <-> map coordinates conversions (backport #5049) #5074
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* Fix incorrect world <-> map coordinates conversions The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: fix smoother test when path is in collision The added pose was indeed invalid, but the it was ignored by the smoother, since considered as a cusp. Instead, let's make the end of the plan invalid as it won't be ignored. Also, let's duplicate the last pose to make the orientation estimation fail, rather than adding a new arbitrary pose. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> (cherry picked from commit 3ec7c33)
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SteveMacenski
approved these changes
Apr 10, 2025
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The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center.
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For Maintainers:
This is an automatic backport of pull request #5049 done by [Mergify](https://mergify.com).