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enable edge_reconfig for execute_policy_mode server #376
enable edge_reconfig for execute_policy_mode server #376
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1. edge reconfig ported from topological_navigation/navigation.py 2. minor fixes in - topological_navigation/navigation.py - topological_navigation/route_search.py
Commit ac4c403 fixes #355 |
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@Jailander can you have a look at this please? |
Hi, I am happy with these, I tested them briefly didn't seem to break anything, but @bfalacerda maybe you want to double check this one before I merge? |
i can give it a quick test tmrw afternoon |
thanks!!! |
I didn't test the functionalities introduced by this PR but it doesn't break our setup, so happy for it to be merged |
:) thanks !! Will merge |
Thanks |
When this mode is enabled via the
/topological_navigation/execute_policy_mode/reconfigure_edges
parameter,execute_navigation_mode
action server will change edge action parameters (e.g.move_base/DWAPlannerROS
) according to the/edge_nav_reconfig_groups
parameter's values and edges being navigated, an example of this configuration is as follows: