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Better fix for #523 respecting planner_frequency intended behavior #622
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!