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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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Actionlib bug when planner_frequency is anything other than 0 #259

Closed r0gi closed 3 years ago

r0gi commented 3 years ago

ROS: Noetic Package: ros-noetic-move-base-flex 0.3.4-1focal.20210112.101859

planners.yaml:

planners:
  - name: 'planner'
    type: 'global_planner/GlobalPlanner'

I get the following console output when setting the global planner_frequency to anything other than 0hz:

BUG: Got a transition to CommState [ACTIVE] when in SimpleGoalState [DONE]
BUG: Got a second transition to DONE

The global planner only ends up publishing a total of 2 times /to move_base_flex/planner/plan and on the second time it outputs the above messages to the console.

This bug only happens only once per navigation goal. The robot does end up reaching its target however, and I get the GOAL Reached! message successfully.

corot commented 3 years ago

@r0gi, can u retry with current master? I think this issue should be fixed now