Comments (6)
Another thing, the workaround I mentioned doesn't fully work either it seems.
[ INFO] [1623089989.156225937, 814.851000000]: Planning in goal frame: base_link
[ INFO] [1623089989.156259677, 814.851000000]: MoveBasic: Goal in base_link 0.040000 0.040000 180.000000
[ INFO] [1623089989.156328205, 814.851000000]: MoveBasic: Goal in base_link 0.040000 0.040000 180.000000
[ INFO] [1623089989.156369680, 814.851000000]: MoveBasic: Requested rotation -129.398652
[ INFO] [1623089993.879035292, 817.175000000]: MoveBasic: Done rotation, error 3.706254 degrees
[ INFO] [1623089994.417629743, 817.397000000]: MoveBasic: Done linear, error: x: 0.042650 meters, y: 0.004839 meters
[ INFO] [1623089994.418079954, 817.397000000]: MoveBasic: Requested rotation 2.368312
[ INFO] [1623090006.863490802, 823.137000000]: MoveBasic: Done rotation, error 4.481289 degrees
The rotation and translation do get executed, but the goal itself doesn't get labeled as succeeded, but stays in the active state (1), so the actionclient doesn't know it's done and cannot proceed.
(this is using the latest kinetic-devel, but the same thing happens on feature-externalforce so it's bound to be a somewhat more widespread issue)
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Done in 629c081
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Still seems to occur in gazebo, when issuing goals without a any notable linear component. For some reason it doesn't happen on the real robot though.
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OK, will take a look into that.
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I cannot reproduce the issue in Gazebo, it works for me. I was publishing rotation only goals with rostopic pub.
How can I reproduce it?
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I think I managed to reproduce it with rviz simple goals, just dropped on the robot. If that's the case and you're running it with rosrun it may be some parameter changed by ezmap's launch of move_basic that causes this.
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Related Issues (20)
- Oddly consistent offset HOT 5
- More aggressive external force correction HOT 2
- Status info
- RootRework: Move_smooth merge HOT 2
- RootRework: Standalone collision checker HOT 1
- RootRework: Zero Radius Turning
- RootRework: General Refactor and Rewrite HOT 2
- RootRework: Better navigation? HOT 10
- python version
- Unable to set up reversing API HOT 5
- ROS Noetic debian package (ros-noetic-move-basic) built from different source/possibly outdated
- Wrong goal preempting HOT 1
- Using both sonars and lidar at the same time for collision detection HOT 5
- Noetic release move_basic HOT 2
- Aborting a goal due to moving away from goal needs to be ROS option enabled HOT 3
- Suggest we decouple direct colision feature from move_basic HOT 5
- Suggest we use laser_filters instead of scan filtering in obstacle_points.cpp HOT 2
- RootRework: Rotational Collisions HOT 4
- Sending goal succeeded when it doesn't seem to have HOT 3
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