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move_base_interruptable_server seems to be causing move_base to crash #87

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merged 5 commits into from
Aug 8, 2017
Merged

move_base_interruptable_server seems to be causing move_base to crash #87

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0714625
marking where crash appears to happen sometimes
Jul 19, 2017
d9751e3
Merge branch 'master' into fix-move-base-crash
warnellg Jul 19, 2017
1cd64e2
Merge branch 'master' into fix-move-base-crash
warnellg Aug 2, 2017
903be38
switched global planner to navfn
warnellg Aug 3, 2017
04b78b4
Merge branch 'fix-move-base-crash' of https://github.com/utexas-bwi/s…
warnellg Aug 3, 2017
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2 changes: 1 addition & 1 deletion segbot_logical_translator/src/libsegbot_logical_translator/segbot_logical_translator.cpp
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Expand Up @@ -167,7 +167,7 @@ namespace segbot_logical_translator {

if (!make_plan_client_initialized_) {
ROS_INFO_STREAM("SegbotLogicalTranslator: Waiting for make_plan service..");
make_plan_client_ = nh_->serviceClient<nav_msgs::GetPlan>("move_base/GlobalPlanner/make_plan");
make_plan_client_ = nh_->serviceClient<nav_msgs::GetPlan>("move_base/NavfnROS/make_plan");
make_plan_client_.waitForExistence();
ROS_INFO_STREAM("SegbotLogicalTranslator: make_plan service found!");
make_plan_client_initialized_ = true;
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1 change: 0 additions & 1 deletion segbot_navigation/config/segbotv3/costmap_common_params.yaml
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Expand Up @@ -2,7 +2,6 @@ robot_base_frame: base_footprint
update_frequency:
publish_frequency: 1.0
inflation_radius: 1.0
obstacle_layer/footprint_clearing_enabled: false

# publish_voxel_map: true
#
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1 change: 0 additions & 1 deletion segbot_navigation/launch/move_base_eband.launch
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Expand Up @@ -21,7 +21,6 @@
<rosparam file="$(find segbot_navigation)/config/$(arg config)/eband_planner_params.yaml" command="load"/>

<param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />

<param name="global_costmap/map_topic" value="$(arg map_topic)"/>

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3 changes: 2 additions & 1 deletion segbot_navigation/src/move_base_interruptable_server.cpp
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Expand Up @@ -35,6 +35,7 @@ void newGoalCallback(const InterruptableActionServer<move_base_msgs::MoveBaseAct
ROS_INFO_STREAM("New goal received, but unable to find plan to goal. Clearing costmaps before sending goal to nav stack.");
std_srvs::Empty srv;
if (!clear_costmap_service_->call(srv)) {
// this sometimes crashes move_base
ROS_ERROR_STREAM("Unable to clear costmaps!");
} else {
// Sleep for three seconds to allow costmaps to be cleared and reset properly.
Expand All @@ -55,7 +56,7 @@ int main(int argc, char *argv[]) {
clear_costmap_service_->waitForExistence();

make_plan_service_.reset(new ros::ServiceClient);
*make_plan_service_ = nh.serviceClient<nav_msgs::GetPlan>("move_base/GlobalPlanner/make_plan");
*make_plan_service_ = nh.serviceClient<nav_msgs::GetPlan>("move_base/NavfnROS/make_plan");
make_plan_service_->waitForExistence();

ROS_INFO_STREAM("move_base_interruptable : Navigation services found!");
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