Global plan has orientations set to 0 degrees

[sanchitbadamikar]

QUESTION:

I've been working with the planner for about a year now and I just realized that my global plan has no orientations for the intermediate poses. It only has an orientation on the goal pose.

Since it seems to be reviewing the footprint using the correct orientation, I am not sure if I'm missing something as simple as a parameter going true to include the orientations for intermediate poses.

Any suggestions on how I should proceed or do I have to access and edit the source code within my package?

[mintar]

I can't reproduce the problem. If you run these commands:

roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch
rostopic echo move_base_node/SBPLLatticePlanner/plan

... and then send a navigation goal via RViz, you'll see that the plan has orientations:

header: 
  seq: 0
  stamp: 
    secs: 21
    nsecs: 400000000
  frame_id: "map"
poses: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 21
        nsecs: 400000000
      frame_id: "map"
    pose: 
      position: 
        x: 15.637500233016908
        y: 27.93750041630119
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.7071080798594735
        w: 0.7071054825112363
  - 
    header: 
      seq: 0
      stamp: 
        secs: 21
        nsecs: 400000000
      frame_id: "map"
    pose: 
      position: 
        x: 15.637500233016908
        y: 27.93750041630119
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.6915263849067544
        w: 0.72235120196328
[...]