MBF doesn't preempt when new goal is given

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

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MBF doesn't preempt when new goal is given #232

Closed jash101 closed 3 years ago

jash101 commented 3 years ago

I'm using rViz to give 2D nav goal, and am using state machine as in the mbf tutorial. It works fine when state is 'WAIT_FOR_GOAL'. But when it is in any other state (GET_PATH, EXE_PATH or RECOVERY) it doesn't preempt the current goal and move on to new goal, as it does in move_base.

corot commented 3 years ago

Yes, that's expected. The tutorial SM is very simplistic, as it's only intended to serve as an example. To achieve what you want requires extra work. A couple of ideas on how to do it (don't take it at face value):

Run a version of WAIT_FOR_GOAL state concurrently, so it can continuously wait for new goals
Wrapp your SM with actionlib and convert RViz goals into calls to the action server

jash101 commented 3 years ago

Thanks! Makes sense. Will try that out 👍

corot commented 3 years ago

Hope you managed to do it! Closing this as answered.