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2014-05-24 21:23:52 -0500 | answered a question | what is the best way to follow a moving target? As Dimitri said, In my opinion there is no reason why the local planner can't use the last valid global plan to continue local motion while the global planner makes new global plan which is already happening continuously in another thread (controlled by I had the same problem, and my solution is this one-line hack in Remove I tested this patch with Navfn and Carrot. This is definitely not an elegant solution. It is probably not even correct on the whole. But it works, and might be a good start to properly patch Btw, you can reduce the number of goals you send to |