[ros-users] Endless Loop when using 'use_collision_map'==false in planning_environment (unstable ROS version)

[Felix Messmer]

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