From b008d916474713167efb7bf7ad18f1baf43f912d Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 20 May 2021 15:51:20 -0700
Subject: [PATCH] reset all goal checkers on cleanup state (#2354)
---
nav2_controller/src/nav2_controller.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index 82781aab..1c13117d 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -256,6 +256,8 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
it->second->cleanup();
}
controllers_.clear();
+
+ goal_checkers_.clear();
costmap_ros_->on_cleanup(state);
// Release any allocated resources
@@ -264,7 +266,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
vel_publisher_.reset();
speed_limit_sub_.reset();
action_server_.reset();
- goal_checkers_[current_goal_checker_]->reset();
return nav2_util::CallbackReturn::SUCCESS;
}
--
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