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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

Create 2 topics for current goal: controller and planner #337

Closed corot closed 6 months ago

corot commented 7 months ago

Also, I cannot see why the controller's topic is created in the abstract_navigation_server and passed all along, so I move to the controller_action (same as planner).

I did the clang formatting required to pass CI in a 2nd commit, to make reviewing easier

RainerKuemmerle commented 7 months ago

Do we by this end up with more sockets in a WAIT state with multiple ExePath calls?

corot commented 7 months ago

Do we by this end up with more sockets in a WAIT state with multiple ExePath calls?

No, no,,, ControllerAction is created only once at start. Executions are the objects created with each ExePath call