Use dubins paths for planning

diff --git a/rrts b/rrts
index 13440e209019d5948e3a96ff7c4854a50907aeff..8ea481ad5931ed9e87fee78aec600ce2b1b26a99 160000 (submodule)
--- a/rrts
+++ b/rrts
@@ -1 +1 @@
-Subproject commit 13440e209019d5948e3a96ff7c4854a50907aeff
+Subproject commit 8ea481ad5931ed9e87fee78aec600ce2b1b26a99

diff --git a/src/rrts_wr.cc b/src/rrts_wr.cc
index 58cfd823fd236978643a31c288a3cf45354c0266..a3ba753e94f64d5f8c3d007018c7a681cb85220f 100644 (file)
--- a/src/rrts_wr.cc
+++ b/src/rrts_wr.cc
@@ -7,7 +7,7 @@ void
 plan_path(const std::shared_ptr<nav_msgs::srv::GetPlan::Request> req,
                std::shared_ptr<nav_msgs::srv::GetPlan::Response> res)
 {
-       rrts::P39 p;
+       rrts::P40 p;
        double sx = req->start.pose.position.x;
        double sy = req->start.pose.position.y;
        tf2::Quaternion qh;