{"action":"created","issue":{"url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/issues/6","repository_url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav","labels_url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/issues/6/labels{/name}","comments_url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/issues/6/comments","events_url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/issues/6/events","html_url":"https://github.com/MariotoA/mrpt_reactivenav/issues/6","id":341225030,"node_id":"MDU6SXNzdWUzNDEyMjUwMzA=","number":6,"title":"Tilting problem","user":{"login":"MariotoA","id":11365290,"node_id":"MDQ6VXNlcjExMzY1Mjkw","avatar_url":"https://avatars3.githubusercontent.com/u/11365290?v=4","gravatar_id":"","url":"https://api.github.com/users/MariotoA","html_url":"https://github.com/MariotoA","followers_url":"https://api.github.com/users/MariotoA/followers","following_url":"https://api.github.com/users/MariotoA/following{/other_user}","gists_url":"https://api.github.com/users/MariotoA/gists{/gist_id}","starred_url":"https://api.github.com/users/MariotoA/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MariotoA/subscriptions","organizations_url":"https://api.github.com/users/MariotoA/orgs","repos_url":"https://api.github.com/users/MariotoA/repos","events_url":"https://api.github.com/users/MariotoA/events{/privacy}","received_events_url":"https://api.github.com/users/MariotoA/received_events","type":"User","site_admin":false},"labels":[{"id":943090099,"node_id":"MDU6TGFiZWw5NDMwOTAwOTk=","url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/labels/bug","name":"bug","color":"d73a4a","default":true}],"state":"open","locked":false,"assignee":{"login":"MariotoA","id":11365290,"node_id":"MDQ6VXNlcjExMzY1Mjkw","avatar_url":"https://avatars3.githubusercontent.com/u/11365290?v=4","gravatar_id":"","url":"https://api.github.com/users/MariotoA","html_url":"https://github.com/MariotoA","followers_url":"https://api.github.com/users/MariotoA/followers","following_url":"https://api.github.com/users/MariotoA/following{/other_user}","gists_url":"https://api.github.com/users/MariotoA/gists{/gist_id}","starred_url":"https://api.github.com/users/MariotoA/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MariotoA/subscriptions","organizations_url":"https://api.github.com/users/MariotoA/orgs","repos_url":"https://api.github.com/users/MariotoA/repos","events_url":"https://api.github.com/users/MariotoA/events{/privacy}","received_events_url":"https://api.github.com/users/MariotoA/received_events","type":"User","site_admin":false},"assignees":[{"login":"MariotoA","id":11365290,"node_id":"MDQ6VXNlcjExMzY1Mjkw","avatar_url":"https://avatars3.githubusercontent.com/u/11365290?v=4","gravatar_id":"","url":"https://api.github.com/users/MariotoA","html_url":"https://github.com/MariotoA","followers_url":"https://api.github.com/users/MariotoA/followers","following_url":"https://api.github.com/users/MariotoA/following{/other_user}","gists_url":"https://api.github.com/users/MariotoA/gists{/gist_id}","starred_url":"https://api.github.com/users/MariotoA/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MariotoA/subscriptions","organizations_url":"https://api.github.com/users/MariotoA/orgs","repos_url":"https://api.github.com/users/MariotoA/repos","events_url":"https://api.github.com/users/MariotoA/events{/privacy}","received_events_url":"https://api.github.com/users/MariotoA/received_events","type":"User","site_admin":false}],"milestone":null,"comments":2,"created_at":"2018-07-14T09:59:47Z","updated_at":"2018-07-23T11:14:55Z","closed_at":null,"author_association":"OWNER","body":"move_base publishes null velocity commands and can interfere with mrpt's reactive. This causes the robot to tilt and stop continuously.\r\n\r\nThe move_base architecture needs BaseLocalPlanner plugin to be the only component to publish said messages.\r\n\r\nWe need to find a way to ensure this. Two ways:\r\n\r\n- Implement a method in ReactiveNavNode so that the wrapper can obtain last cmd_vel generated. Delete navigate calls in ReactiveNavNode too.\r\n\r\n- Change the topic where ReactiveNavNode publishes velocity commands and make the wrapper subscribe to that topic. In the callback associated, store the commands. In the BaseLocalPlanner implemented method, use the output argument to give the command to move_base."},"comment":{"url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/issues/comments/407022833","html_url":"https://github.com/MariotoA/mrpt_reactivenav/issues/6#issuecomment-407022833","issue_url":"https://api.github.com/repos/MariotoA/mrpt_reactivenav/issues/6","id":407022833,"node_id":"MDEyOklzc3VlQ29tbWVudDQwNzAyMjgzMw==","user":{"login":"MariotoA","id":11365290,"node_id":"MDQ6VXNlcjExMzY1Mjkw","avatar_url":"https://avatars3.githubusercontent.com/u/11365290?v=4","gravatar_id":"","url":"https://api.github.com/users/MariotoA","html_url":"https://github.com/MariotoA","followers_url":"https://api.github.com/users/MariotoA/followers","following_url":"https://api.github.com/users/MariotoA/following{/other_user}","gists_url":"https://api.github.com/users/MariotoA/gists{/gist_id}","starred_url":"https://api.github.com/users/MariotoA/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MariotoA/subscriptions","organizations_url":"https://api.github.com/users/MariotoA/orgs","repos_url":"https://api.github.com/users/MariotoA/repos","events_url":"https://api.github.com/users/MariotoA/events{/privacy}","received_events_url":"https://api.github.com/users/MariotoA/received_events","type":"User","site_admin":false},"created_at":"2018-07-23T11:14:55Z","updated_at":"2018-07-23T11:14:55Z","author_association":"OWNER","body":"There is still a problem: some vel. commands are skipped using the two cmd_vel topics approach. To solve this we tried changing when the navigationStep takes place. [f188720](https://github.com/MariotoA/mrpt_reactivenav/commit/f188720b260fcae4819c71928982bdd8149cf998)\r\n\r\nAs you can see, this is done on a new branch. This is the case because for now, it's not possible to get vel. command this way without lowering controller frequency. \r\n\r\nThis is not acceptable."}}
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