move_base dose not put SUCCEEDED status (move_base/status or move_base/result)

[tosa-no-onchan]

The flowing code(return goalreached;) dosen't work correctly.

bool EBandPlannerROS::isGoalReached(){
  ....
  return goal_reached_;
  ....
}

Why did you comment out next lines? from here // nav_msgs::Odometry base_odom; //... to here //return is_goal_reached;

bool EBandPlannerROS::isGoalReached()
{
  // check if plugin initialized
  if(!initialized_)
  {
    ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner");
    return false;
  }

  return goal_reached_;

  // // copy odometry information to local variable
  // nav_msgs::Odometry base_odom;
  // {
  //    // make sure we do not read new date from topic right at the moment
  //    boost::mutex::scoped_lock lock(odom_mutex_);
  //    base_odom = base_odom_;
  // }

  // geometry_msgs::PoseStamped global_pose;
  // costmap_ros_->getRobotPose(global_pose);

  // // analogous to dwa_planner the actual check uses the routine implemented in trajectory_planner (trajectory rollout)
  // bool is_goal_reached = base_local_planner::isGoalReached(
  //     *tf_, global_plan_, *(costmap_ros_->getCostmap()),
  //     costmap_ros_->getGlobalFrameID(), global_pose, base_odom,
  //        rot_stopped_vel_, trans_stopped_vel_, xy_goal_tolerance_,
  //     yaw_goal_tolerance_
  // );

  // return is_goal_reached;

}

[tosa-no-onchan]

I found some correct code.

eband_local_planner_ros.cpp

    // set global plan to wrapper and pass it to eband    
bool EBandPlannerROS::setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan)
{
 ....
  // set goal as not reached
  // changed by nishi
  //goal_reached_ = false;

  return true;
}

bool EBandPlannerROS::isGoalReached()
{
  // check if plugin initialized
  if(!initialized_)
  {
    ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner");
    return false;
  }

  // added by nishi 
  //ROS_INFO("GOAL Reached!");
  //std::cout << "BandPlannerROS::isGoalReached() :#9  goal_reached_=" << goal_reached_ << std::endl;
  if(goal_reached_==true){
    goal_reached_=false;
    return true;
  }
  return false;

  //return goal_reached_;
  ....