From 14046bce714304f5496e6a72247ba772df622343 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Fri, 30 May 2025 08:26:37 -0400
Subject: [PATCH] nav

---
 .../include/modelec_strat/navigation_helper.hpp        |  2 +-
 src/modelec_strat/src/navigation_helper.cpp            | 10 +++++++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/modelec_strat/include/modelec_strat/navigation_helper.hpp b/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
index 449f097..1df0646 100644
--- a/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
+++ b/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
@@ -95,7 +95,7 @@ namespace Modelec
 
         bool EnemyOnPath(const modelec_interfaces::msg::OdometryPos msg);
 
-        bool Replan(bool force = true);
+        bool Replan(bool force = false);
 
         void SetTeamId(int id);
 
diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp
index 955d1c9..6f7a90b 100644
--- a/src/modelec_strat/src/navigation_helper.cpp
+++ b/src/modelec_strat/src/navigation_helper.cpp
@@ -587,7 +587,15 @@ namespace Modelec
         if (EnemyOnPath(*msg))
         {
             RCLCPP_INFO(node_->get_logger(), "Enemy is blocking the path, replanning...");
-            Replan();
+            if (!Replan())
+            {
+                RCLCPP_WARN(node_->get_logger(), "Replanning failed, stopping odometry...");
+                std_msgs::msg::Bool start_odo_msg;
+                start_odo_msg.data = false;
+                start_odo_pub_->publish(start_odo_msg);
+
+                last_was_close_enemy_ = true;
+            }
         }
     }