Comments (2)
hershwg
commented on May 21, 2024
I agree, perfectly reasonable request.
Looks like this is caused by the r.sleep() call on line 623 of move_base.cpp. To fix, the loop needs to be reworked somehow so that the single (potentially big) call to r.sleep() is broken up into multiple short sleeps, with checks for new plan requests (or actionlib goal pre-emptions?) in between.
I don't have time to look into this right now, but the change should be feasible without affecting any APIs or other files I think.
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mikeferguson
commented on May 21, 2024
should be fixed by #282
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