报错 Your executeCallback did not set the goal to a terminal status. This is a bug in your ActionServer implementation. Fix your code !
此时的move_base/status消息是 This goal was aborted by the simple action server. The user should have set a terminal status on this goal and did not
源码在actionlib的simple_action_server_imp.h的 SimpleActionServer<ActionSpec>::executeLoop()1
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43// executeLoop函数在不断地轮转状态，以检测新的目标到来
template <class ActionSpec>
void SimpleActionServer<ActionSpec>::executeLoop()
{
ros::Duration loop_duration = ros::Duration().fromSec(.1);
while (n_.ok())
{
{
boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
if (need_to_terminate_) // 只在 shutdown() 函数中为 true
break;
}
boost::recursive_mutex::scoped_lock lock(lock_);
if (isActive())
ROS_ERROR_NAMED("actionlib", "Should never reach this code with an active goal");
// new_goal_ 标志被置为true后，即 goalcallback 函数被执行完毕后
else if (isNewGoalAvailable() )
{
GoalConstPtr goal = acceptNewGoal();
ROS_FATAL_COND(!execute_callback_, "execute_callback_ must exist. This is a bug in SimpleActionServer");
// Make sure we're not locked when we call execute
// 重新以新的goal执行executecallback函数
lock.unlock();
execute_callback_(goal);
lock.lock();
if (isActive())
{
ROS_WARN_NAMED("actionlib", "Your executeCallback did not set the goal to a terminal status.\n"
"This is a bug in your ActionServer implementation. Fix your code!\n"
"For now, the ActionServer will set this goal to aborted");
setAborted(Result(), "This goal was aborted by the simple action server. The user should have set a terminal status on this goal and did not");
}
}
// 如果没有新目标，通过条件变量将线程阻塞
else
execute_condition_.timed_wait(lock, boost::posix_time::milliseconds(loop_duration.toSec() * 1000.0f));
}
}move_base接收到新目标后，会进入回调函数execute_callback_，执行完之后会判断是否还是Active，如果是那说明服务端没有给最终状态，也就是没有执行setSucceeded或者setAborted函数，说明move_base的流程没有运行到最终状态的逻辑那里。