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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
422 stars 154 forks source link

Fix race condition between finishing and updating a goal #296

Closed RainerKuemmerle closed 2 years ago

RainerKuemmerle commented 2 years ago

AbstractActionBase sets slot.in_use to false after having left runImpl. This means that a check based on slot.in_use might still see a thread as running despite the goal got assigned a terminal state. Hence, we also check that the goal is still active to consume an update.

Fix #295