From 8995b53d295f9f7c2f38db7e5c785c473fc89992 Mon Sep 17 00:00:00 2001
From: Bastian Hofmann <bastian.hofmann@xitaso.com>
Date: Fri, 31 Mar 2023 16:37:24 +0000
Subject: [PATCH] Zeroed orientation to prevent turning after move.

---
 src/btree_nodes/src/nodes/GenerateXYPose.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/btree_nodes/src/nodes/GenerateXYPose.cpp b/src/btree_nodes/src/nodes/GenerateXYPose.cpp
index 0c8f5bf..4ace1c4 100644
--- a/src/btree_nodes/src/nodes/GenerateXYPose.cpp
+++ b/src/btree_nodes/src/nodes/GenerateXYPose.cpp
@@ -77,6 +77,11 @@ BT::NodeStatus BT::GenerateXYPose::tick() {
     auto randomPose = std::make_shared<geometry_msgs::msg::Pose>();
     randomPose->position.x = pos.x;
     randomPose->position.y = pos.y;
+    randomPose->position.z = 0;
+    randomPose->orientation.w = 0;
+    randomPose->orientation.x = 0;
+    randomPose->orientation.y = 0;
+    randomPose->orientation.z = 0;
 
     printf("Generated Target: %f %f\n", pos.x, pos.y);
     setOutput<std::shared_ptr<geometry_msgs::msg::Pose>>("pose", randomPose);