pausing move_base node
I just want to programmaticly pause the node, not abort it so it would cancel the desired location. Can anyone tell me how?
Asked by silver_plate on 2020-04-22 19:26:04 UTC
Answers
The only way to do that is to cancel the action. You can simply resume it after you would like to continue, there's really no reason to "pause" but not cancel.
Asked by stevemacenski on 2020-04-22 21:17:18 UTC
Comments
there's really no reason to "pause" but not cancel
what if you'd like to be sure the robot will resume moving along the exact same path as before the cancellation?
Asked by gvdhoorn on 2020-04-23 05:43:03 UTC
If you “ pause” it, presumably something must still be running or its the same as cancellation. If the planner is still replanning, then you’re just as likely to get a new path as if you cancelled and restarted. At no point in move base are you promised the exact same path if the environment around it has changed. If you cancel or pause with no changes then there’s no reason to expect the path will change either with a deterministic planner like provided in the stack by default.
Asked by stevemacenski on 2020-04-23 12:17:20 UTC
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