search

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

MBF will block the main thread for an arbitrary time when canceling an execution #323

Open corot opened 11 months ago

corot commented 11 months ago

Because we join its thread after cancelling an execution. This is dangerous because we relay on plugins cancel implementation to finish properly. And meanwhile we won't have callbacks, so for example a controller slowing down on cancel won't get an updated velocity from MBF.