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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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[fix] move_base_action: always sleep regardless of replanning #291

Closed remco-r closed 2 years ago

remco-r commented 2 years ago

when planner_frequency > 0 the replanning thread would never sleep and thus cause CPU load of 100%. This fix makes sure there is always an update_period.sleep() in the loop.

This reduces the load of mbf_costmap_navigation to 8% in my case, without any different behavior.