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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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Dima/abstract action base #242

Closed dorezyuk closed 3 years ago

dorezyuk commented 3 years ago

Hey guys,

in this PR I fixup some minor issues and provide basic testing to the abstract_action_base class.

List of changes

Misc

  1. add missing includes
  2. add some documentation for the abstract_action_base class
  3. add a typedef for the concurrency map; we should change this later to unordered_map
  4. avoid costly calls to concurrencyslots[slot] but do it once

API adjustments

  1. this is really debatable but I added a runImpl function, which allows us to skip the boost::bind stuff. i think it expresses/documents better what is exactly required to implement the action base
  2. We call execution.reconfigure() from the abstract_action_base. I've added that as a virtual method to the abstract_execution_base to account for that.

Fixes

  1. Our destructor would not join the threads. fixed that.
corot commented 3 years ago

And can you adopt the clang format from https://github.com/magazino/move_base_flex/pull/239?

dorezyuk commented 3 years ago

I know sorry for the spamming