From 79448ceeeec35747f0fa21afe0951276a7c0ee73 Mon Sep 17 00:00:00 2001
From: kjchee <keai_jiang_chee@cgh.com.sg>
Date: Wed, 29 Apr 2026 09:28:57 +0800
Subject: [PATCH] Fix heading check in compute_change_in_rotation for slotcar

Signed-off-by: kjchee <keai_jiang_chee@cgh.com.sg>
---
 rmf_robot_sim_common/src/slotcar_common.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmf_robot_sim_common/src/slotcar_common.cpp b/rmf_robot_sim_common/src/slotcar_common.cpp
index 487c25a..b2cf67a 100644
--- a/rmf_robot_sim_common/src/slotcar_common.cpp
+++ b/rmf_robot_sim_common/src/slotcar_common.cpp
@@ -876,7 +876,7 @@ double SlotcarCommon::compute_change_in_rotation(
   const Eigen::Vector3d* requested_heading,
   double* const dir) const
 {
-  if (dpos.norm() < 1e-3)
+  if (dpos.norm() < 1e-3 && !requested_heading)
   {
     // We're right next to the waypoint, so we don't really need any heading
     // to reach it.