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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
69 stars 21 forks source link

Investigate goal preempting #66

Closed dorkamotorka closed 3 years ago

dorkamotorka commented 3 years ago

After doing the Unit test for goal Queueing behaviour, this line manage to fail 7/10 times (not on all computers - on some does fail, on some not). https://github.com/UbiquityRobotics/move_basic/blob/e88ccab63683a4aab49c0e9279adcfb15827e9d7/test/test_goal_queueing.cpp#L203

dorkamotorka commented 3 years ago

According to: http://wiki.ros.org/actionlib in paragraph 8. SImpleActionServer Goal Policies: "isPreemptRequested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request."

dorkamotorka commented 3 years ago

Closing since preempting works(Tested multiple times with smooth cornering and breadcrumb)