This question is related to my earlier one on the nav stack.
Suppose I'm sending move_base
a goal; I want to be able to interrupt move_base
during its plan execution. Afaik, the current nav stack doesn't allow this.
Is it better to design an "interruptible" nav stack, or are there other alternatives?
As an example of alternative: I could get a global plan from the ~make_plan
, and directly use cmd_vel
to navigate between waypoints. These commands can be turned off when an interrupt flag is set.
Originally posted by PKG on ROS Answers with karma: 365 on 2014-03-05
Post score: 0
Original comments
Comment by David Lu on 2014-03-05:
Do you just want to interrupt the nav stack (i.e. get it to pause) or would stopping the action and then restarting it work?
Comment by PKG on 2014-03-05:
Stopping the action for good, and restarting it later if needed, is OK