Create new service FindValidPose

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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Create new service FindValidPose #316

Closed corot closed 1 year ago

corot commented 1 year ago

New MBF service to add to mbf_costmap_nav: it goes in the line of the suggestion at issue #8; but less ambitious by now. But we can add other services that for example finds a valid pose within an area.

The implementation is on PR #317

RainerKuemmerle commented 1 year ago

Why would this be best implemented as a service? It might take a considerable amount of time to run (if tolerance is large?) maybe there are intermediate information to transmit in the future to allow the user to abort the search?

corot commented 1 year ago

Why would this be best implemented as a service? It might take a considerable amount of time to run (if tolerance is large?) maybe there are intermediate information to transmit in the future to allow the user to abort the search?

sorry, I answered on the wrong place 3 weeks ago!!! :see_no_evil:

good question; 2 reasons:

we intend this to be fast, so it can be called continuously to adapt to changing situations. From experience, I expect that this won't take more some tens of milliseconds
it's an extension of the other services provided at mbf_costmap_nav server, so makes sense to offer the same interface

RainerKuemmerle commented 1 year ago

@corot Do you have a benchmark how long the service call will take with the search implementation of #317 ? Otherwise looks good to me.

corot commented 1 year ago

@corot Do you have a benchmark how long the service call will take with the search implementation of #317 ? Otherwise looks good to me.

Yes, it's very fast; we call it at high frequency w/o any problem