From 24f8b26a8fa3e6714e0a17a676e6beca4a214b07 Mon Sep 17 00:00:00 2001
From: Noah LaFerriere <42897161+noah710@users.noreply.github.com>
Date: Sat, 2 Nov 2019 20:46:43 -0400
Subject: [PATCH] make it go (#27)

---
 src/magellan_motion/src/path_planner/planner.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/magellan_motion/src/path_planner/planner.cpp b/src/magellan_motion/src/path_planner/planner.cpp
index 34a4522..bbbcff8 100644
--- a/src/magellan_motion/src/path_planner/planner.cpp
+++ b/src/magellan_motion/src/path_planner/planner.cpp
@@ -43,7 +43,7 @@ int PathPlanner::getKey(double x, double y) {
 
 Path PathPlanner::getPlan(std::shared_ptr<Successor> goalNode) {
     Path p;
-    p.header.frame_id = "base_link";
+    p.header.frame_id = "odom";
     p.header.stamp = ros::Time::now();
     double totalCost = 0;
 
@@ -60,7 +60,7 @@ Path PathPlanner::getPlan(std::shared_ptr<Successor> goalNode) {
         PoseStamped pt;
         pt.pose.position.x = parent->xPose;
         pt.pose.position.y = parent->yPose;
-        pt.header.frame_id = "base_link";
+        pt.header.frame_id = "odom";
         totalCost = totalCost + parent->gCost;
 
         planVector.push_back(pt);
@@ -86,8 +86,8 @@ Path PathPlanner::plan(Point goal) {
     std::chrono::time_point<std::chrono::high_resolution_clock> startTime =
         std::chrono::high_resolution_clock::now();
 
-    goalX = std::roundf(goal.x * 100) / 100;
-    goalY = std::roundf(goal.y * 100) / 100;
+    goalX = std::roundf(goal.x);
+    goalY = std::roundf(goal.y);
 
     if (!isFree(goalX, goalY)) {
         ROS_ERROR("PathPlanner: Goal is not free!!!!");