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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Verify all costmap layers that if sensor update rate slips below expected_update_rate, robot stops #2180

Closed SteveMacenski closed 3 years ago

SteveMacenski commented 3 years ago

Check that current_ is set false and that is propagating properly that the planner / controller server's costmaps are informing the servers that they need to halt. Check STVL too.

CC @Jconn

SteveMacenski commented 3 years ago

Validated - all layers properly set current_ on reset and when the observation buffers complain about expected update rates.

Current is then used by isCurrent() in the controller and planner servers now from an unrelated issue that also resolves this ticket which makes the algorithm servers pause processing a request and sleep until the data is current again after a recovery clear or expected update rates are missed.

Closing from this validation effort, recent updates to ROS2 main, and STVL for ROS2 main sync.