Robot pose not correctly sent to controller about move_base_flex

[james-ward]

I found the TODO in AbstractControllerExecution saying this isn't implemented yet.

[spuetz]

Do you mean while using computeVelocityCmd? So in the following method in AbstractControllerExecution? If so, you're right! That feature is coming in the next days.

uint32_t AbstractControllerExecution::computeVelocityCmd(geometry_msgs::TwistStamped &vel_cmd,
std::string& message)
{
// TODO calculate robot pose and velocity
geometry_msgs::PoseStamped robot_pose;
geometry_msgs::TwistStamped robot_velocity;
return controller_->computeVelocityCommands(robot_pose, robot_velocity, vel_cmd, message);
}

[spuetz]

The robot pose is now computed by the ControllerExecution and given to the plugin. The velocity is still missing. I'll open another issue for the robot velocity.