Complete rotation in first half of path before finishing translation - #546
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KhaleelA19 wants to merge 1 commit into
Open
Complete rotation in first half of path before finishing translation#546KhaleelA19 wants to merge 1 commit into
KhaleelA19 wants to merge 1 commit into
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Problem
Rotation was interpolated evenly across the entire path, so the sub rotated continuously while translating all the way to the goal.
Fix
Orientation progress now runs at 2× the translation progress (t2 = t * 2.0, clamped at 1.0). Rotation completes in the first half of the path, then every remaining breadcrumb holds the goal orientation while translation finishes. Note the else-branch is required — leaving orientation unassigned would produce a default (identity) quaternion, not "keep last value."
Tested in sim
Sent a ~5 m goal with a 90° yaw (goal quaternion z=0.7071, w=0.7071). Planner output shows the quaternion sweeping z: 0.291 → 0.443 → 0.583 → 0.7071 over the first 4 of 10 poses, then holding constant at the goal orientation for the back half while position converges. Sub behavior in Gazebo matched: turn first, then straight cruise.