[ros-users] Endless Loop when using 'use_collision_map'==fal…

Dear community,

I still have problems with the planning_environment package (unstable
ROS version), when setting the parameter "use_collision_map" in for the
environment_server to false!
Since the previously mentioned error is fixed now, there is one more
spot where the case use_collision_map == false is not handled quite
right and leads to problems (endless loop).

problem:
in planning_environment/src/monitors/environment_server.cpp; in the 
constructor; line 73:
...
while(!planning_monitor_->haveMap()){
     ros::Duration().fromSec(0.05).sleep();
}
...

possible solution:
...
while(setup_.use_collision_map_ && !planning_monitor_->haveMap()){
     ros::Duration().fromSec(0.05).sleep();
}
...

I hope this can be fixed soon so that yet another overlay will not be
necessary after the diamondback-release!


Regards,
Felix