Better fix for #523 respecting planner_frequency intended behavior #622
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LGTM, in my use case. Thanks for the quick fix. |
DLu
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DLu
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* Respect planner_frequency intended behavior (#622) * Only do a getRobotPose when no start pose is given (#628) Omit the unnecessary call to getRobotPose when the start pose was already given, so that move_base can also generate a path in situations where getRobotPose would fail. This is actually to work around an issue of getRobotPose randomly failing. * Update gradient_path.cpp (#576) * Update gradient_path.cpp * Update navfn.cpp * update to use non deprecated pluginlib macro (#630) * update to use non deprecated pluginlib macro * multiline version as well * Print SDL error on IMG_Load failure in server_map (#631)
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Essentially I'm reverting 679ee2b but adding this line: https://github.com/ros-planning/navigation/compare/kinetic-devel...corot:better_fix_for_523?expand=1#diff-d6afbf7b921c7c246a6ee2454dc05be4R609
Now seems to work as expected: the new parameter max_retries does as expected, the planner stops while recovering and keeps replanning while moving if planner_frequency > 0
Not thoroughly tested, so please, give it a good try!