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Fixed goal reached topic not sent when move_base has finished

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This commit is contained in:
matlabbe
2015-09-22 15:47:10 -04:00
parent 00f04e62c0
commit 9a201f5e2e
1 changed files with 7 additions and 1 deletions
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src/CoreWrapper.cpp
+7 -1
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@@ -1887,6 +1887,12 @@ bool CoreWrapper::cancelGoalCallback(std_srvs::Empty::Request& req, std_srvs::Em
{ {
mbClient_.cancelGoal(); mbClient_.cancelGoal();
} }
if(goalReachedPub_.getNumSubscribers())
{
std_msgs::Bool result;
result.data = false;
goalReachedPub_.publish(result);
}
} }
return true; return true;
@@ -2126,7 +2132,7 @@ void CoreWrapper::goalDoneCb(const actionlib::SimpleClientGoalState& state,
ROS_ERROR("Planning: move_base failed for some reason. Aborting the plan..."); ROS_ERROR("Planning: move_base failed for some reason. Aborting the plan...");
} }
if(!ignore && !goalReachedPub_.getNumSubscribers()) if(!ignore && goalReachedPub_.getNumSubscribers())
{ {
std_msgs::Bool result; std_msgs::Bool result;
result.data = state == actionlib::SimpleClientGoalState::SUCCEEDED; result.data = state == actionlib::SimpleClientGoalState::SUCCEEDED;