Fix early termination bug

mini-1235 · mini-1235 · commit 2b02d7d6ff6c · 2025-12-10T17:55:23.000Z
Signed-off-by: mini-1235 &lt;mauricepurnawan@gmail.com&gt;
diff --git a/nav2_controller/plugins/feasible_path_handler.cpp b/nav2_controller/plugins/feasible_path_handler.cpp
@@ -202,7 +202,7 @@ nav_msgs::msg::Path FeasiblePathHandler::transformLocalPlan(
     if (!costmap_ros_->getCostmap()->worldToMap(
         costmap_plan_pose.pose.position.x, costmap_plan_pose.pose.position.y, mx, my))
     {
-      return transformed_plan;
+      break;
     }
 
     // Filling the transformed plan to return with the transformed pose

Original file line number	Diff line number	Diff line change
`@@ -202,7 +202,7 @@ nav_msgs::msg::Path FeasiblePathHandler::transformLocalPlan(`
`202`	`202`	`if (!costmap_ros_->getCostmap()->worldToMap(`
`203`	`203`	`costmap_plan_pose.pose.position.x, costmap_plan_pose.pose.position.y, mx, my))`
`204`	`204`	`{`
`205`		`- return transformed_plan;`
	`205`	`+ break;`
`206`	`206`	`}`
`207`	`207`
`208`	`208`	`// Filling the transformed plan to return with the transformed pose`