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We will reset this flag to true after recovery is done.\n            */\n           runPlanner_ = false;\n-          state_ = CLEARING;\n+          if (planner_status == nav_core::status::FATAL) {\n+            // Hit an unrecoverable error, move_base should abort\n+            state_ = FAILED;\n+            failure_mode_ = PLANNING_F;\n+            diag_level_ = diagnostic_msgs::DiagnosticStatus::ERROR;\n+            diag_msg_ = \"Bad goal pose\";\n+            diagnostic_updater_.force_update();\n+            ROS_ERROR_THROTTLE(5, \"Bad goal pose\");\n+          } else {\n+            // Attempt to recover\n+            state_ = CLEARING;\n+            recovery_trigger_ = PLANNING_R;\n+          }","path":"move_base/src/move_base.cpp","position":93,"original_position":93,"commit_id":"53382e04812e1fa596db2ea8ecbfebc83f0ae3a3","original_commit_id":"53382e04812e1fa596db2ea8ecbfebc83f0ae3a3","user":{"login":"jasonimercer","id":12039018,"avatar_url":"https://avatars.githubusercontent.com/u/12039018?v=3","gravatar_id":"","url":"https://api.github.com/users/jasonimercer","html_url":"https://github.com/jasonimercer","followers_url":"https://api.github.com/users/jasonimercer/followers","following_url":"https://api.github.com/users/jasonimercer/following{/other_user}","gists_url":"https://api.github.com/users/jasonimercer/gists{/gist_id}","starred_url":"https://api.github.com/users/jasonimercer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jasonimercer/subscriptions","organizations_url":"https://api.github.com/users/jasonimercer/orgs","repos_url":"https://api.github.com/users/jasonimercer/repos","events_url":"https://api.github.com/users/jasonimercer/events{/privacy}","received_events_url":"https://api.github.com/users/jasonimercer/received_events","type":"User","site_admin":false},"body":"I know that the existing style is non-ROS but we should make sure that new code follows standards. Make sure your braces are on their own lines.\r\n\r\nhttp://wiki.ros.org/CppStyleGuide","created_at":"2016-05-13T13:54:00Z","updated_at":"2016-05-13T13:54:00Z","html_url":"https://github.com/clearpathrobotics/navigation/pull/67#discussion_r63186069","pull_request_url":"https://api.github.com/repos/clearpathrobotics/navigation/pulls/67","_links":{"self":{"href":"https://api.github.com/repos/clearpathrobotics/navigation/pulls/comments/63186069"},"html":{"href":"https://github.com/clearpathrobotics/navigation/pull/67#discussion_r63186069"},"pull_request":{"href":"https://api.github.com/repos/clearpathrobotics/navigation/pulls/67"}}},"pull_request":{"url":"https://api.github.com/repos/clearpathrobotics/navigation/pulls/67","id":69997747,"html_url":"https://github.com/clearpathrobotics/navigation/pull/67","diff_url":"https://github.com/clearpathrobotics/navigation/pull/67.diff","patch_url":"https://github.com/clearpathrobotics/navigation/pull/67.patch","issue_url":"https://api.github.com/repos/clearpathrobotics/navigation/issues/67","number":67,"state":"open","locked":false,"title":"CORE-3602: Abort when end goal is not valid ","user":{"login":"stephmcarthur","id":19346295,"avatar_url":"https://avatars.githubusercontent.com/u/19346295?v=3","gravatar_id":"","url":"https://api.github.com/users/stephmcarthur","html_url":"https://github.com/stephmcarthur","followers_url":"https://api.github.com/users/stephmcarthur/followers","following_url":"https://api.github.com/users/stephmcarthur/following{/other_user}","gists_url":"https://api.github.com/users/stephmcarthur/gists{/gist_id}","starred_url":"https://api.github.com/users/stephmcarthur/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/stephmcarthur/subscriptions","organizations_url":"https://api.github.com/users/stephmcarthur/orgs","repos_url":"https://api.github.com/users/stephmcarthur/repos","events_url":"https://api.github.com/users/stephmcarthur/events{/privacy}","received_events_url":"https://api.github.com/users/stephmcarthur/received_events","type":"User","site_admin":false},"body":"Adds ability for global planner to return a status. 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