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An interruptible version of nav stack?

asked 2014-03-05 17:04:34 -0500

PKG gravatar image

This question is related to my earlier one on the nav stack.

Suppose I'm sending move_base a goal; I want to be able to interrupt move_base during its plan execution. Afaik, the current nav stack doesn't allow this.

Is it better to design an "interruptible" nav stack, or are there other alternatives?

As an example of alternative: I could get a global plan from the ~make_plan , and directly use cmd_vel to navigate between waypoints. These commands can be turned off when an interrupt flag is set.

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Do you just want to interrupt the nav stack (i.e. get it to pause) or would stopping the action and then restarting it work?

David Lu gravatar image David Lu  ( 2014-03-05 17:27:17 -0500 )edit

Stopping the action for good, and restarting it later if needed, is OK

PKG gravatar image PKG  ( 2014-03-05 17:29:44 -0500 )edit

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answered 2014-03-06 05:28:52 -0500

ahendrix gravatar image

move_base exposes two APIs: a simple topic for recieving goals ( move_base_simple/goal ) and an actionlib server ( move_base/goal, move_base/cancel, etc).

The actionlib server supports queuing and canceling goals, so it does in fact support canceling a goal while it is in progress.

This tutorial describes how to set up an actionlib client to send goals to the navigation stack, and the actionlib API documentation documents the various cancel functions that are available.

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Asked: 2014-03-05 17:04:34 -0500

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Last updated: Mar 06 '14