Fix 3 related issues on move_base action recovering #343
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corot
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siferati
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| // recovery failed but we still have behaviors; we cannot call the next here (simple action client | ||
| // will complain about transition to ACTIVE from DONE), so we try replanning again (wrong, but works) | ||
| case actionlib::SimpleClientGoalState::SUCCEEDED: |
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| // recovery failed but we still have behaviors; we cannot call the next here (simple action client | |
| // will complain about transition to ACTIVE from DONE), so we try replanning again (wrong, but works) | |
| case actionlib::SimpleClientGoalState::SUCCEEDED: | |
| // recovery failed but we still have behaviors; we cannot call the next here | |
| // (simple action client will complain about transition to ACTIVE from DONE) | |
| // so we try replanning again (wrong, but works) | |
| [[fallthrough]]; | |
| case actionlib::SimpleClientGoalState::SUCCEEDED: |
S: add [[fallthrough]] attribute to make it clear what the comment is referring to.
I was a bit confused at first until I noticed it was referring to the lack of a break statement 😅
I think this requires C++17 though, so if you don't want to change CMakeLists.txt then maybe add it commented out
S: better text line breaks
If a recovery behavior fails, calling the next immediatly breaks simple action client If the last recovery behavior fails, we return that as move_base error instead of the error that triggered recovering
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move_baseaction get's stuck if recovery behavior patience is exceededI was debugging the first, but realized the 2 other on the process
The solution for the first is to treat patience exceeded the same way as behavior failure. Then I realized the other 2 errors.
The solution for the 2nd is rather hackish, but a proper solution would require to implement the move_base action, for which I don't have time. In any case the previous code was incorrect.