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source/armarx/navigation/local_planning/TimedElasticBands.cpp

@@ -98,8 +98,8 @@ namespace armarx::navigation::local_planning
         const core::Pose currentPose{scene.robot->getGlobalPose()};
 
         // prune global trajectory
-        const auto& [prunedGoal, planToDest] =
-            goal.getSubTrajectory(currentPose.translation(), params.cfg.planning_distance * 1000);
+        const auto& [prunedGoal, planToDest] = goal.getSubTrajectory(
+            currentPose.translation(), params.cfg.planning_distance * 1000); // [m] to [mm]
 
         const teb_local_planner::TimedElasticBand globalPath = conv::toRos(prunedGoal);
         teb_globalPath = globalPath.poses();

source/armarx/navigation/local_planning/ros_conversions.cpp

@@ -18,7 +18,7 @@ namespace armarx::navigation::conv
     Eigen::Vector2d
     toRos(const Eigen::Vector3f& vec)
     {
-        return conv::to2D(vec).cast<double>() / 1000;
+        return conv::to2D(vec).cast<double>() / 1000; // [mm] to [m]
     }