Signed-off-by: Hongmei Gou <[email protected]>
---
.../0002-navigation-move-base-mmwave-changes.patch | 22 ++++++++++++++++++++++
recipes-ros/navigation/move-base_1.12.14.bbappend | 5 +++++
2 files changed, 27 insertions(+)
create mode 100644
recipes-ros/navigation/files/0002-navigation-move-base-mmwave-changes.patch
create mode 100644 recipes-ros/navigation/move-base_1.12.14.bbappend
diff --git
a/recipes-ros/navigation/files/0002-navigation-move-base-mmwave-changes.patch
b/recipes-ros/navigation/files/0002-navigation-move-base-mmwave-changes.patch
new file mode 100644
index 0000000..0ab97b1
--- /dev/null
+++
b/recipes-ros/navigation/files/0002-navigation-move-base-mmwave-changes.patch
@@ -0,0 +1,22 @@
+diff --git a/move_base/src/move_base.cpp b/move_base/src/move_base.cpp
+index c608d37..43e0e8c 100644
+--- a/move_base/src/move_base.cpp
++++ b/move_base/src/move_base.cpp
+@@ -3,6 +3,7 @@
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2008, Willow Garage, Inc.
++* Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+@@ -662,6 +663,9 @@ namespace move_base {
+ controller_costmap_ros_->start();
+ }
+
++ // Perform initial rotation
++ recovery_behaviors_[recovery_index_]->runBehavior();
++
+ //we want to make sure that we reset the last time we had a valid plan
and control
+ last_valid_control_ = ros::Time::now();
+ last_valid_plan_ = ros::Time::now();
diff --git a/recipes-ros/navigation/move-base_1.12.14.bbappend
b/recipes-ros/navigation/move-base_1.12.14.bbappend
new file mode 100644
index 0000000..fd3ef69
--- /dev/null
+++ b/recipes-ros/navigation/move-base_1.12.14.bbappend
@@ -0,0 +1,5 @@
+PR_append = ".tisdk0"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/files:"
+
+SRC_URI += "file://0002-navigation-move-base-mmwave-changes.patch;patchdir=.."
--
1.9.1
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