move_base question concerning actionlib:

asked 2014-04-19 15:11:22 -0500

Yantian_Zha gravatar image

Hi, I'm confused in how move_base transfer its accepted goal(realised by function "*as_->acceptNewGoal()") to cmd_vel that will be published to control the move_base? Note that cmd_vel is processed by the function "tc_->computeVelocityCommands(cmd_vel)", in which no codes concerning actionlib components(that seems to process a goal) can be found. Can anyone tell me the detailed procedure of how goal that is accepted under the actionlib protocol transferred to cmd_vel? Another question is, though I can found as_->setSucceeded(in move_base.cpp), there is no setAccepted, is it reasonable? Thanks so much!

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