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Move Base Flex somehow appears to not work properly when started inside SMACH.

The Problem is that the action servers are started after the plugins are loaded, meaning that when mbf gets stuck loading the plugins, it won't start the action servers.

In my case, when starting mbf inside SMACH, it somehow fails to subscribe to the topics that are required by the costmap-plugin (due to the map-param of static layer) and therefore gets stuck.

Starting mbf outside of SMACH and THEN starting SMACH however works perfectly fine.

For more information, visit the corresponding issue thread.