Fix robot navigator params getting overriden (#3562)

nakai-omer · web-flow · commit e5394ae3da78 · 2023-05-09T08:32:08.000-07:00
diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
@@ -353,7 +353,7 @@ def _getPathImpl(self, start, goal, planner_id='', use_start=False):
 
     def getPath(self, start, goal, planner_id='', use_start=False):
         """Send a `ComputePathToPose` action request."""
-        rtn = self._getPathImpl(start, goal, planner_id='', use_start=False)
+        rtn = self._getPathImpl(start, goal, planner_id, use_start)
         if not rtn:
             return None
         else:
@@ -426,7 +426,7 @@ def _smoothPathImpl(self, path, smoother_id='', max_duration=2.0, check_for_coll
     def smoothPath(self, path, smoother_id='', max_duration=2.0, check_for_collision=False):
         """Send a `SmoothPath` action request."""
         rtn = self._smoothPathImpl(
-            self, path, smoother_id='', max_duration=2.0, check_for_collision=False)
+            self, path, smoother_id, max_duration, check_for_collision)
         if not rtn:
             return None
         else:
