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solution for issue #949 #950

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solution for issue #949 #950

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53f879d
Update move_base.h
shiningjuly Dec 21, 2019
48d4112
Update move_base.cpp
shiningjuly Dec 21, 2019
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1 change: 1 addition & 0 deletions move_base/include/move_base/move_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -231,6 +231,7 @@ namespace move_base {
move_base::MoveBaseConfig default_config_;
bool setup_, p_freq_change_, c_freq_change_;
bool new_global_plan_;
bool planner_goal_updated_;
};
};
#endif
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18 changes: 16 additions & 2 deletions move_base/src/move_base.cpp
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Expand Up @@ -55,7 +55,7 @@ namespace move_base {
blp_loader_("nav_core", "nav_core::BaseLocalPlanner"),
recovery_loader_("nav_core", "nav_core::RecoveryBehavior"),
planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL),
runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) {
runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false), planner_goal_updated_(false) {

as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false);

Expand Down Expand Up @@ -571,13 +571,24 @@ namespace move_base {

//time to plan! get a copy of the goal and unlock the mutex
geometry_msgs::PoseStamped temp_goal = planner_goal_;
planner_goal_updated_ = false;
lock.unlock();
ROS_DEBUG_NAMED("move_base_plan_thread","Planning...");

//run planner
planner_plan_->clear();
bool gotPlan = n.ok() && makePlan(temp_goal, *planner_plan_);


//if new goal available, abandon current plan and go back to makePlan for new goal
if(planner_goal_updated_)
{
if(gotPlan) // still update last_valid_plan_ in case too many goals preempted
last_valid_plan_ = ros::Time::now();
//take the mutex for the next iteration
lock.lock();
continue;
}

if(gotPlan){
ROS_DEBUG_NAMED("move_base_plan_thread","Got Plan with %zu points!", planner_plan_->size());
//pointer swap the plans under mutex (the controller will pull from latest_plan_)
Expand Down Expand Up @@ -649,6 +660,7 @@ namespace move_base {
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
planner_goal_ = goal;
runPlanner_ = true;
planner_goal_updated_ = true;
planner_cond_.notify_one();
lock.unlock();

Expand Down Expand Up @@ -698,6 +710,7 @@ namespace move_base {
lock.lock();
planner_goal_ = goal;
runPlanner_ = true;
planner_goal_updated_ = true;
planner_cond_.notify_one();
lock.unlock();

Expand Down Expand Up @@ -736,6 +749,7 @@ namespace move_base {
lock.lock();
planner_goal_ = goal;
runPlanner_ = true;
planner_goal_updated_ = true;
planner_cond_.notify_one();
lock.unlock();

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