search

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
434 stars 154 forks source link

fix controller termination #263

Closed dorezyuk closed 3 years ago

dorezyuk commented 3 years ago

With the #262 merge, we have introduced a regression in the termination criteria of our controllers:

If the user doesn't specify maxrettries or patience_ we would not terminate at all. I've made the behavior congruent with the behavior of abstract_planner_execution - terminating the loop if both parameters are disabled.

Keep in mind that the #261 PR will provide some testing the affected class (but I would need to adjust the tests to the changed behavior).

Best, Dima

spuetz commented 3 years ago

Is this the adjustment you meant? :) https://github.com/magazino/move_base_flex/runs/2113351121 We should set a retry value here, or?