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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
424 stars 154 forks source link

Run replanning in its own thread (fixes #223) #267

Closed corot closed 3 years ago

corot commented 3 years ago

As I mentioned in the issue, we need to run the replanning in its own thread

Interestingly, it also seems to fix #259 and #260 (both the same issue, I think)

@echo4echo, @r0gi, would be really great if you can give a try to this branch and see if it fixes the issue you reported; thanks in advance

spuetz commented 3 years ago

You are right with the preempting. I like your proposals. This could be done in another PR, or? What do you think @dorezyuk @corot ?

corot commented 3 years ago

You are right with the preempting. I like your proposals. This could be done in another PR, or? What do you think @dorezyuk @corot ?

I'm done with the requested changes; just need to test I'll commit now, before testing, so u can judge

dorezyuk commented 3 years ago

You are right with the preempting. I like your proposals. This could be done in another PR, or? What do you think @dorezyuk @corot ?

I'm done with the requested changes; just need to test I'll commit now, before testing, so u can judge

It looks good now - the only thing I could wish for are some tests for this class;)