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RobotLocomotion / robot-plan-runner

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Mimic ros action #24

Closed pangtao22 closed 3 years ago

pangtao22 commented 3 years ago

Changes:

  1. client returns immediately after the plan is received by the server.
  2. client subscribes to PLAN_STATUS channel, and tells if a plan is finished from this channel.
  3. client can preempt a currently-running plan.

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pangtao22 commented 3 years ago

Known issues (now tracked in #21 ):

  1. client.wait_for_result may return the result of the previous plan if called right after the previous plan finishes, a problem observed here. The solution is to publish both the plan signature and plan status on PLAN_STATUS channel.

  2. PLAN_STATUS doesn't distinguish between a successful plan and an aborted plan.