Update running controller goal also when we are preempting it #345
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corot
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corot
commented
Aug 21, 2024
| if ((slot_it->second.execution->getName() == goal_handle.getGoal()->controller || | ||
| goal_handle.getGoal()->controller.empty()) && | ||
| slot_it->second.goal_handle.getGoalStatus().status == actionlib_msgs::GoalStatus::ACTIVE) | ||
| (slot_status == actionlib_msgs::GoalStatus::ACTIVE || slot_status == actionlib_msgs::GoalStatus::PREEMPTING)) |
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equivalent to isActive method on SimpleActionServer
corot
commented
Aug 21, 2024
| @@ -143,7 +143,7 @@ class AbstractActionBase | |||
| // if there is already a plugin running on the same slot, cancel it | |||
| slot_it->second.execution->cancel(); | |||
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| // TODO + WARNING: this will block the main thread for an arbitrary time during which we won't execute callbacks | |||
| // WARNING: this will block the main thread for an arbitrary time during which we won't execute callbacks | |||
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Still true, e.g. if the old and new goals have different controller.
corot
requested review from
RainerKuemmerle,
ChristofDubs,
spuetz and
siferati
siferati
approved these changes
Aug 22, 2024
correct |
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This PR partially addresses issue #323, for the case of preempting a controller execution with the same controller.
The problem is still there if the old and new goals have different controller.
I re-state here the problem and the solution
So instead of canceling and joining, with this PR, things change from point 5