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debug move_base crash when using global_planner/GlobalPlanner #91

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debug move_base crash when using global_planner/GlobalPlanner #91

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2 changes: 1 addition & 1 deletion segbot_logical_translator/src/libsegbot_logical_translator/segbot_logical_translator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ namespace segbot_logical_translator {

if (!make_plan_client_initialized_) {
ROS_INFO_STREAM("SegbotLogicalTranslator: Waiting for make_plan service..");
make_plan_client_ = nh_->serviceClient<nav_msgs::GetPlan>("move_base/NavfnROS/make_plan");
make_plan_client_ = nh_->serviceClient<nav_msgs::GetPlan>("move_base/GlobalPlanner/make_plan");
make_plan_client_.waitForExistence();
ROS_INFO_STREAM("SegbotLogicalTranslator: make_plan service found!");
make_plan_client_initialized_ = true;
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1 change: 1 addition & 0 deletions segbot_navigation/launch/move_base_eband.launch
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Expand Up @@ -21,6 +21,7 @@
<rosparam file="$(find segbot_navigation)/config/$(arg config)/eband_planner_params.yaml" command="load"/>

<param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />

<param name="global_costmap/map_topic" value="$(arg map_topic)"/>

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2 changes: 1 addition & 1 deletion segbot_navigation/src/move_base_interruptable_server.cpp
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Expand Up @@ -56,7 +56,7 @@ int main(int argc, char *argv[]) {
clear_costmap_service_->waitForExistence();

make_plan_service_.reset(new ros::ServiceClient);
*make_plan_service_ = nh.serviceClient<nav_msgs::GetPlan>("move_base/NavfnROS/make_plan");
*make_plan_service_ = nh.serviceClient<nav_msgs::GetPlan>("move_base/GlobalPlanner/make_plan");
make_plan_service_->waitForExistence();

ROS_INFO_STREAM("move_base_interruptable : Navigation services found!");
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