Open rayvburn opened 11 months ago
WIP
Even after moving the section relying on the tf_buffer
to the computePlanAsynchronously
(to avoid using findTransform
in multiple threads), there are some strange errors:
terminate called without an active exception
Aborted (core dumped)
Did not debugged that thoroughly yet (changes stashed locally)
Also, consider using the condition_variable
Another (simpler approach) that may help would be to connect straight to a "/move_base/GlobalPlanner/make_plan" or "/move_base/NavfnROS/make_plan" (depending on the planner) instead of "/move_base/make_plan" which often complains about "move_base must be in an inactive state to make a plan for an external user".
Usually the delay of a blocked planning service is 500 ms. Error: