[executor] fail execute_plan action if initial conditions changed #300
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added 2 commits
March 2, 2024 13:08
We terminate the program is many senarios instead of just returning an explict value. We used to terminate if the initial conditions changed before the plan is started. Now just send a result that the action server failed to execute the plan
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Merging!!! 🚀 Thanks @MostafaGomaa |
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We terminate the program is many scenarios instead of just returning an explicit value. We currently terminate if the initial conditions change before the plan is started. This is prone to happen in the real world.
This PR sends an explicit result with a failure result to "execute_plan" goals for which the initial requirements change after planning and before execution.