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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
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signal from setState function #236

Closed dorezyuk closed 3 years ago

dorezyuk commented 3 years ago

I've moved the condition-variable inside setState, so we can easier trigger it on state-update. This simplifies the code a bit

dorezyuk commented 3 years ago

I wouldn't mix the stuff and do the refactoring step by step. Right now there is no correspondent action to publishZeroVelocity for planners failing. We might later refactor the code into

setState(State _state, bool _signalling) {
...
planning_ = !_signalling
}

since we typically want to exit the planning loop if we signal

corot commented 3 years ago

I wouldn't mix the stuff and do the refactoring step by step. Right now there is no correspondent action to publishZeroVelocity for planners failing. We might later refactor the code into

As long as you follow up this PR with the matching changes for controller and recovery, I'm good approving this