{"action":"created","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/926","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/926/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/926/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/926/events","html_url":"https://github.com/googlecartographer/cartographer_ros/pull/926","id":338899690,"node_id":"MDExOlB1bGxSZXF1ZXN0MTk5NzE2NTE0","number":926,"title":"Fix bug in FinishTrajectory logic","user":{"login":"sebastianklose","id":2069941,"node_id":"MDQ6VXNlcjIwNjk5NDE=","avatar_url":"https://avatars2.githubusercontent.com/u/2069941?v=4","gravatar_id":"","url":"https://api.github.com/users/sebastianklose","html_url":"https://github.com/sebastianklose","followers_url":"https://api.github.com/users/sebastianklose/followers","following_url":"https://api.github.com/users/sebastianklose/following{/other_user}","gists_url":"https://api.github.com/users/sebastianklose/gists{/gist_id}","starred_url":"https://api.github.com/users/sebastianklose/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sebastianklose/subscriptions","organizations_url":"https://api.github.com/users/sebastianklose/orgs","repos_url":"https://api.github.com/users/sebastianklose/repos","events_url":"https://api.github.com/users/sebastianklose/events{/privacy}","received_events_url":"https://api.github.com/users/sebastianklose/received_events","type":"User","site_admin":false},"labels":[{"id":418857802,"node_id":"MDU6TGFiZWw0MTg4NTc4MDI=","url":"https://api.github.com/repos/googlecartographer/cartographer_ros/labels/cla:%20yes","name":"cla: yes","color":"0e8a16","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-07-06T11:09:01Z","updated_at":"2018-07-06T11:10:32Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/pulls/926","html_url":"https://github.com/googlecartographer/cartographer_ros/pull/926","diff_url":"https://github.com/googlecartographer/cartographer_ros/pull/926.diff","patch_url":"https://github.com/googlecartographer/cartographer_ros/pull/926.patch"},"body":"This PR adds additional bookkeeping for trajectories that we scheduled for\r\nfinishing.\r\n\r\nIn Node::RunFinalOptimization(...), we were calling FinishTrajectory for\r\nevery active trajectory (state == ACTIVE). Since the state only gets updated\r\nonce the corresponding worker for the FinishTrajectory task is\r\nscheduled, we were potentially calling FinishTrajectory twice for a\r\nsingle trajectory id.\r\n\r\nReproducible on master e.g. with \r\n```\r\nroslaunch cartographer_ros offline_backpack_2d.launch bag_filenames:=b2-2016-02-02-14-01-56.bag no_rviz:=true\r\n```"},"comment":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/comments/403004075","html_url":"https://github.com/googlecartographer/cartographer_ros/pull/926#issuecomment-403004075","issue_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/926","id":403004075,"node_id":"MDEyOklzc3VlQ29tbWVudDQwMzAwNDA3NQ==","user":{"login":"sebastianklose","id":2069941,"node_id":"MDQ6VXNlcjIwNjk5NDE=","avatar_url":"https://avatars2.githubusercontent.com/u/2069941?v=4","gravatar_id":"","url":"https://api.github.com/users/sebastianklose","html_url":"https://github.com/sebastianklose","followers_url":"https://api.github.com/users/sebastianklose/followers","following_url":"https://api.github.com/users/sebastianklose/following{/other_user}","gists_url":"https://api.github.com/users/sebastianklose/gists{/gist_id}","starred_url":"https://api.github.com/users/sebastianklose/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sebastianklose/subscriptions","organizations_url":"https://api.github.com/users/sebastianklose/orgs","repos_url":"https://api.github.com/users/sebastianklose/repos","events_url":"https://api.github.com/users/sebastianklose/events{/privacy}","received_events_url":"https://api.github.com/users/sebastianklose/received_events","type":"User","site_admin":false},"created_at":"2018-07-06T11:10:32Z","updated_at":"2018-07-06T11:10:32Z","author_association":"CONTRIBUTOR","body":"@MichaelGrupp FYI - this was introduced after switching to use `TrajectoryState`"}}
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