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Fix slotcar final orientation #162

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Merged
xiyuoh merged 1 commit into from
May 1, 2026
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Merged

Fix slotcar final orientation #162

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2 changes: 1 addition & 1 deletion rmf_robot_sim_common/src/slotcar_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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