MoveBase::resetState()分析

最新推荐文章于 2024-05-27 16:14:39 发布

luxiangz

最新推荐文章于 2024-05-27 16:14:39 发布

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分类专栏： #movebase

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  void MoveBase::resetState(){
    // Disable the planner thread
    boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
    runPlanner_ = false;
    lock.unlock();

    // Reset statemachine
    state_ = PLANNING;
    recovery_index_ = 0;
    recovery_trigger_ = PLANNING_R;
    publishZeroVelocity();

    //if we shutdown our costmaps when we're deactivated... we'll do that now
    if(shutdown_costmaps_){
      ROS_DEBUG_NAMED("move_base","Stopping costmaps");
      planner_costmap_ros_->stop();
      controller_costmap_ros_->stop();
    }
  }

状态重置速度归零