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rayvburn / hubero

HuBeRo - a Framework to Simulate Human Behaviour in Robot Research
https://github.com/rayvburn/hubero
BSD 3-Clause "New" or "Revised" License
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`NavigationRos` - perform `computePlan` asynchronously #62

Open rayvburn opened 11 months ago

rayvburn commented 11 months ago

Usually the delay of a blocked planning service is 500 ms. Error:

[ERROR] [1696377720.614312985, 52.176000000]: move_base must be in an inactive state to make a plan for an external user
rayvburn commented 10 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

rayvburn commented 7 months ago

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".