From b57d83120301fe82addbead6d4eb8f07f741d99a Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Thu, 11 Jul 2019 17:04:36 -0700
Subject: [PATCH] activate action server in on_activate()
---
nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp | 1 +
nav2_navfn_planner/src/navfn_planner.cpp | 1 +
2 files changed, 2 insertions(+)
diff --git a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
index 12530a40..6773e54e 100644
--- a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
+++ b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
@@ -88,6 +88,7 @@ DwbController::on_activate(const rclcpp_lifecycle::State & state)
{
RCLCPP_INFO(get_logger(), "Activating");
+ action_server_->activate();
planner_->on_activate(state);
costmap_ros_->on_activate(state);
vel_pub_->on_activate();
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index 93782734..4ae36a48 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -100,6 +100,7 @@ NavfnPlanner::on_activate(const rclcpp_lifecycle::State & /*state*/)
plan_publisher_->on_activate();
plan_marker_publisher_->on_activate();
+ action_server_->activate();
return nav2_util::CallbackReturn::SUCCESS;
}
--
GitLab