fix simple smoother failing during final approach

rayferric · rayferric · commit 323fdcf6fb7d · 2025-01-03T16:05:38.000+01:00
Signed-off-by: rayferric &lt;63957587+rayferric@users.noreply.github.com&gt;
diff --git a/nav2_smoother/src/simple_smoother.cpp b/nav2_smoother/src/simple_smoother.cpp
@@ -106,7 +106,7 @@ bool SimpleSmoother::smooth(
     }
   }
 
-  if (segments_smoothed == 0) {
+  if (segments_smoothed == 0 && path_segments.size() > 1) {
     throw nav2_core::FailedToSmoothPath("No segments were smoothed");
   }
 

Original file line number	Diff line number	Diff line change
`@@ -106,7 +106,7 @@ bool SimpleSmoother::smooth(`
`106`	`106`	`}`
`107`	`107`	`}`
`108`	`108`
`109`		`- if (segments_smoothed == 0) {`
	`109`	`+ if (segments_smoothed == 0 && path_segments.size() > 1) {`
`110`	`110`	`throw nav2_core::FailedToSmoothPath("No segments were smoothed");`
`111`	`111`	`}`
`112`	`112`