ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

0

call MoveBaseAction from within a recovery_behavior

asked 2014-07-22 05:09:31 -0500

Luke_ROS
116 ●7 ●10 ●15

I tried to call the move_base as a SimpleActionClient from within a recovery_behavior. The recovery_behavior starts as expected and the SimpleActionServer is connected (checked with client.isServerConnected()). I then cancel all existing goals with client.cancelAllGoals(). But after sending the new goal via client.sendGoal(goal), I only get the state PENDING from the SimpleActionServer and the goal is not getting executed.

So I was wondering if it is even possible to call a new goal from within a recovery_behavior or if the error is somewhere in my code.

Thanks for any help. If needed, I can of course provide some code snippets.

System: Hydro on Ubuntu 12.04

edit retag flag offensive close merge delete

Comments

Is this recovery behavior in the same node as the move_base action server?

BennyRe ( 2014-07-22 05:16:20 -0500 )edit

No. I implemented it in another node. Would that make a difference?

Luke_ROS ( 2014-07-22 06:09:00 -0500 )edit

1 Answer

Sort by » oldest newest most voted

1

answered 2014-07-22 05:58:06 -0500

flag of Germany

31395 ●134 ●284 ●498

Recovery Behaviors as they are usually implemented take full control of the robot and of move_base. Basically move_base turns to the recovery behavior and waits until it is complete. It is not interleaved or continuously called or watched from move_base. Essentially you've created a dead-lock where you wait for move_base and move_base waits for you to complete.

edit flag offensive delete link

Comments

I was afraid of sth like that. Is there a possiblity to trick that? (like calling an external node calling the move_base from there)

Luke_ROS ( 2014-07-22 06:11:44 -0500 )edit

It doesn't change anything if you're still waiting for that external node that waits for move_base.

dornhege ( 2014-07-22 06:23:57 -0500 )edit

Yeah... It seems like I have to exit recovery_behavior first before steering the robot to the new pose... Thanks for your help!

Luke_ROS ( 2014-07-22 07:15:07 -0500 )edit

Question Tools

1 follower

Stats

Asked: 2014-07-22 05:09:31 -0500

Seen: 204 times

Last updated: Jul 22 '14

Related questions

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.

Powered by Askbot version 0.10.2