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pausing move_base node

asked 2020-04-22 19:26:04 -0500

silver_plate gravatar image

I just want to programmaticly pause the node, not abort it so it would cancel the desired location. Can anyone tell me how?

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answered 2020-04-22 21:17:18 -0500

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.

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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?

gvdhoorn gravatar image gvdhoorn  ( 2020-04-23 05:43:03 -0500 )edit

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.

stevemacenski gravatar image stevemacenski  ( 2020-04-23 12:17:20 -0500 )edit

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Asked: 2020-04-22 19:26:04 -0500

Seen: 571 times

Last updated: Apr 22 '20