Freespace planner become not to receive new goals #6934
Labels
component:planning
Route planning, decision-making, and navigation. (auto-assigned)
status:help-wanted
Assistance or contributors needed.
Checklist
Description
If freespace planner fails to find a goal once, it becomes not to receive a new goal pose.
And no new trajectories are searched.
freespace_stack_compress.mp4
Expected behavior
When the new goal is set, freespace planner starts to search for a trajectory for a new goal.
Actual behavior
Freespace planner does not receive new goals and does not search for new trajectories.
Steps to reproduce
Versions
Possible causes
When freespace planner is given an unreachable goal pose, method algo->makePlan() is called and search a trajectory for the goal permanently, resulting stack.
Thus, the callback function onRoute does not be called when you put a new goal and the new goal does not be set.
Additional context
No response
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