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Linear and rotational part as separate maneuvers #95

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Merged
merged 1 commit into from
Jun 9, 2021
Merged

Linear and rotational part as separate maneuvers #95

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21 changes: 11 additions & 10 deletions src/move_basic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -492,18 +492,19 @@ void MoveBasic::executeAction(const move_base_msgs::MoveBaseGoalConstPtr& msg)
return;
}
sleep(localizationLatency);
}

// Final rotation as specified in goal
if (do_final_rotation) {
double finalYaw = goalYaw - (yaw + requestedYaw);
if (std::abs(finalYaw) > angularTolerance) {
if (!rotate(finalYaw, drivingFrame)) {
return;
}
}

sleep(localizationLatency);
// Final rotation as specified in goal
if (do_final_rotation) {
double requestedYaw = atan2(linear.y(), linear.x());
double finalYaw = goalYaw - (yaw + requestedYaw);
if (std::abs(finalYaw) > angularTolerance) {
if (!rotate(finalYaw, drivingFrame)) {
return;
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I think we're missing a actionServer->setSucceeded(); over here, the state still never gets changed from active right now.

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But otherwise it does work 👍

}
}

sleep(localizationLatency);
}

actionServer->setSucceeded();
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@MoffKalast this line is setting it as succeeded

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@MoffKalast MoffKalast Jun 8, 2021 •
edited
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It doesn't seem to get that far apparently. I'm not sure what rotate() gives back at specific times, but I'd imagine it just returns without setting the status in line 503?

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Hmm, yes it could be possible that the boolean we are returning from rotate function is wrong. If you are able to reproduce the issue, reopen it.

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