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Adjusted MoveBaseState for input waypoint in PoseStamped instead of deprecated Pose2D. #12

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tbazina wants to merge 1 commit into FlexBE:master from tbazina:move-base-noetic

tbazina commented Sep 5, 2021

Changes explained:

Replaced a deprecated Pose2D message with PoseStamped for waypoint specification,
action_topic field is now a state param to allow /move_base in a different namespace (Issue Enhancement: Make action_topic of move_base_state a configurable state param #10),
Added 'preempted' outcome to handle cases when the navigation is preempted (canceled by another goal).

Linked Issues
Resolves #10, but not the most important change.


          Adjusted move_base_state for input waypoint in PoseStamped instead of…

b363f4c

… deprecated Pose2D.

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