Commit 2f8e5cff authored by Niklas Yann Wettengel's avatar Niklas Yann Wettengel
Browse files

return if obstacle on path and stop_before_obstacle

parent a2f89c9c
......@@ -856,7 +856,10 @@ bool HomerNavigationNode::checkForObstacles()
ROS_DEBUG_STREAM("obstacle on path");
//Message stops the robot and triggers the targetUnreachableCallback of the drive_to_node.
if(m_stop_before_obstacle)
{
sendTargetUnreachableMsg(homer_mapnav_msgs::TargetUnreachable::LASER_OBSTACLE);
return false;
}
if (m_seen_obstacle_before)
{
......
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