make_plan service call fail

asked 2012-11-29 01:54:20 -0500

ane_fernandez
21 ●5 ●5 ●7

Hi everyone,

When I call to make_plan service of move_base node I get this error:

move_base must be in an inactive state to make a plan for an external user

I've checked that when I execute call() function, move_base is in Active mode. After that the action that is being executed is canceled, it passes to the preempted state. I suppose at that state it could be possible to make a call so I wait calling periodically to exists() service method to check if the service is both advertised and available.

I don't get it working well, so I would like to know what I'm doing wrong or if there is another way to check service's availability.

Thanks

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answered 2012-12-05 06:14:57 -0500

hersh
1351 ●16 ●21 ●28

I have also added this as a bug on the github nav-stack page:

make_plan service call should be available at all times

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answered 2012-12-03 21:39:00 -0500

Lorenz

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

The service should be available all the time, it will just throw an error as long as the robot is navigating. That means you need to call it when the robot is not processing any goals. To check for that, you can subscribe to the action's status topic and check if none of the goals is in an active state, i.e. PENDING, RECALLING, ACTIVE or PREEMPTING.

An alternative would be to write a simple node that just loads the global planner plugin using pluginlib, instantiates it and provides the same service without the underlying move_base instance. This approach will surely be more flexible but requires some work since you also need to provide costmaps to the planner.