planner_cspace: publish empty path immediately after planning aborted #326
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[#911] PASSED on kineticAll tests passed[#911] PASSED on lunarAll tests passed[#911] PASSED on melodicAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #326 +/- ##
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+ Coverage 64.26% 64.3% +0.03%
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Files 56 56
Lines 4016 4017 +1
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+ Hits 2581 2583 +2
+ Misses 1435 1434 -1
Continue to review full report at Codecov.
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at-wat
reviewed
Jun 14, 2019
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Without this, the robot may still rotate for a while until next loop.
This rotation is under control of trajectory_tracker, not a kind of free running, which minimize the error to the desired final pose.
I agree to publish empty path immediately on abort.
But on success, publishing empty path means to abort orientation control; which is basically unintended behaviour.
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Okey, if the delay is intended behavior, I'll remove empty path publishing snippet and add comment on success case. If we use action client to the |
[#912] PASSED on kineticAll tests passed[#912] PASSED on lunarAll tests passed[#912] PASSED on melodicAll tests passed |
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@at-wat PTAL when you have time. |
ykoga-kyutech
changed the title
Actually, it's difficult to define STOP state of the robot. |
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merging |
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Good to know, thanks. |
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This PR make a robot stop immediately after path planning completed; succeeded or aborted.
Without this, the robot may still rotate for a while until next loop.
e.g. rotates at least 0.25 sec. by the default parameter
freq=4Hz).