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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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Cancel exe_path action is ignored if sent < 100 ms after the goal #269

Closed corot closed 3 years ago

corot commented 3 years ago

To reproduce, set shutdown_costmaps to true, as this introduce a delay between the exe_path goal reception and the execution.

If you send a cancel soon (<100ms) after the goal, we will set the cancel_ flag to true here, but then the execution start reset it to false here.

I tried to remove these 3 lines under "reset the member vars" and now cancel works regardless of how fast u send it after the goal. I think these lines are not needed, as we create a new execution object each time. @spuetz, can u confirm?

spuetz commented 3 years ago

As the controller-execution object will be created for a start event, we can safely remove thecancel_ = false; in line 67.

corot commented 3 years ago

Fixed with #270