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bubgum / crw-cmu

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Actionlib issues? #4

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
1. Run worldwind client
2. Set multiple waypoints
3. Switched off autonomy, changed waypoint, switched on again

rostopic echo nav/status

---
header: 
  seq: 0
  stamp: 
    secs: 1312245033
    nsecs: 999000000
  frame_id: ''
status_list: 
  - 
    goal_id: 
      stamp: 
        secs: 1312244616
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-1-1312244616.999000000
    status: 4
    text: ''
  - 
    goal_id: 
      stamp: 
        secs: 1312244742
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-2-1312244742.999000000
    status: 4
    text: ''
  - 
    goal_id: 
      stamp: 
        secs: 1312244757
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-3-1312244757.999000000
    status: 4
    text: ''
  - 
    goal_id: 
      stamp: 
        secs: 1312244864
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-4-1312244864.999000000
    status: 4
    text: ''
  - 
    goal_id: 
      stamp: 
        secs: 1312244911
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-5-1312244911.999000000
    status: 4
    text: ''
  - 
    goal_id: 
      stamp: 
        secs: 1312244988
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-6-1312244988.999000000
    status: 4
    text: ''
  - 
    goal_id: 
      stamp: 
        secs: 1312244995
        nsecs: 999000000
      id: /nav/vehicle_client976436_nav-7-1312244995.999000000
    status: 4
    text: CANCELLED

With the motor still running

The last tag is pretty interesting

The coresponding /nav/feedback is

---
header: 
  seq: 0
  stamp: 
    secs: 1312244961
    nsecs: 999000000
  frame_id: ''
status: 
  goal_id: 
    stamp: 
      secs: 1312244988
      nsecs: 999000000
    id: /nav/vehicle_client976436_nav-6-1312244988.999000000
  status: 1
  text: This goal has been accepted by the simple action server
feedback: 
  header: 
    seq: 0
    stamp: 
      secs: 1312244961
      nsecs: 999000000
    frame_id: ''
  status: 3

---
header: 
  seq: 0
  stamp: 
    secs: 1312244961
    nsecs: 999000000
  frame_id: ''
status: 
  goal_id: 
    stamp: 
      secs: 1312244988
      nsecs: 999000000
    id: /nav/vehicle_client976436_nav-6-1312244988.999000000
  status: 1
  text: This goal has been accepted by the simple action server
feedback: 
  header: 
    seq: 0
    stamp: 
      secs: 1312244961
      nsecs: 999000000
    frame_id: ''
  status: 3

---
header: 
  seq: 0
  stamp: 
    secs: 1312244962
    nsecs: 999000000
  frame_id: ''
status: 
  goal_id: 
    stamp: 
      secs: 1312244995
      nsecs: 999000000
    id: /nav/vehicle_client976436_nav-7-1312244995.999000000
  status: 4
  text: CANCELLED
feedback: 
  header: 
    seq: 0
    stamp: 
      secs: 1312244962
      nsecs: 999000000
    frame_id: ''
  status: 3

---

Original issue reported on code.google.com by icodera...@gmail.com on 2 Aug 2011 at 12:57

GoogleCodeExporter commented 9 years ago

Original comment by psi...@gmail.com on 3 Aug 2011 at 4:27

GoogleCodeExporter commented 9 years ago 
I proposed a patch to rosjava/actionlib to clean up completed goals properly, 
and fixed a bug in the preempting callback in r361.

Original comment by psi...@gmail.com on 1 Sep 2011 at 10:23