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magazino / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
429 stars 154 forks source link

Canceling move_base action takes very long when doing continuous replanning #223

Closed corot closed 3 years ago

corot commented 3 years ago

Looks like it takes approximately replanning period! All happens in this line:

  if(!action_client_get_path_.getState().isDone())

Most probably is caused by the calls to replanningrate.sleep(), so I suppose we must move the replanning to a separated thread.