Hi everyone,

When I call to make_plan service of move_base node I get this error:

move_base must be in an inactive state to make a plan for an external user

I've checked that when I execute call() function, move_base is in Active mode. After that the action that is being executed is canceled, it passes to the preempted state. I suppose at that state it could be possible to make a call so I wait calling periodically to exists() service method to check if the service is both advertised and available.

I don't get it working well, so I would like to know what I'm doing wrong or if there is another way to check service's availability.