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UbiquityRobotics / move_basic

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

Wrong goal preempting #85

Closed dorkamotorka closed 3 years ago

dorkamotorka commented 3 years ago

According to design spec of QueuedActionServer: If another goal is received, add it to the queue. If the queue is already full, then set the current goal to preempted, start executing the next one in the queue, and add the new one to the queue.

What actually happens is that the new goal preempts the second goal in Queue and executes it after it finishes the first.

dorkamotorka commented 3 years ago

Preempting appears to work after multiple on robot testing.