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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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Add BLOCKED_START / GOAL to GetPath action and add some clarifying comments #311

Closed corot closed 1 year ago

RainerKuemmerle commented 1 year ago

@corot this is just adding code. When/how would those be returned?

corot commented 1 year ago

@corot this is just adding code. When/how would those be returned?

The plugins implementing GetPath. E.g. on global_planner is trivial to check for start/goal poses, instead of starting a hopeless planning.

More generally, almost all error codes are there available for the plugin writers, not MBF itself (MoveBaseResult::OSCILLATION is the counterexample that comes to my mind)

corot commented 1 year ago

Looks good, but note that there will be a break in the Application Binary Interface (ABI) - not API - when we release it, as the checksum of the messages will change.

:thinking: how can message checksum change affect ABI?

In any case, master msgs are already different from noetic ones (we added the error code ranges)

spuetz commented 1 year ago

🤔 how can message checksum change affect ABI?

We had that in the past. http://wiki.ros.org/ROS/Technical%20Overview#Message_serialization_and_msg_MD5_sums