The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Turns out move_base is not "fully" up until a map is published. It's strange how the topics show up but the action server only becomes available after the map is published.
I wouldn't be surprised if there are other hidden conditions for move_base to come "fully" up, e.g. as Choco93 suggests, odom needs to be published
| | 2 | No.2 Revision |
Turns out move_base is not "fully" up until a map is published. It's strange how the topics show up but the action server only becomes available after the map is published.
I wouldn't be surprised if there are other hidden conditions for move_base to come "fully" up, e.g. as Choco93 suggests, odom needs to be published
Notice that move_base action server the first thing created when move_base is constructed, but is only started near the end of move_base's construction.
My problem is that somewhere along the way in move_base's constructor, the plugin static_layer is loaded which spins until a map is received.
Somehow I wasn't smart enough to correlate the message
Requesting the map...
With move_base not being fully constructed, hence hanging on waitForServer
As such, I wouldn't be surprised if there are other things that need to happen before move_base can be fully constructed and the action server started.
| | 3 | No.3 Revision |
Turns out move_base is not "fully" up until a map is published. It's strange how the topics show up but the action server only becomes available after the map is published.
I wouldn't be surprised if there are other hidden conditions for move_base to come "fully" up, e.g. as Choco93 suggests, odom needs to be published
Notice that move_base action server the is the first thing created created when move_base is constructed, constructor is called, but is only started near the end of move_base's construction..
My problem is that somewhere along the way in move_base's constructor, the plugin static_layer is loaded which spins until a map is received.
Somehow I wasn't smart enough to correlate the message
Requesting the map...
With move_base not being fully constructed, hence hanging on waitForServer
As such, I I also wouldn't be surprised if there are other things that need to happen before move_base can be fully constructed and the action server started.
I may not be seeing the full picture, but I would have placed the creation of the action server "nearer" to the starting of the server. I believe this would improve debuggability in a sense that I won't be seeing the topics while the server is in fact inoperable.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
