Guillaume Doisy

Additional, this more complete PR is ready and is going to be merged soon: https://github.com/rst-tu-dortmund/teb_local_planner/pull/374

TEB and nav2 are working well together under ros2 Humble (ros2-master branch that you have to compile from source). That was the point of this recent PR: https://github.com/rst-tu-dortmund/teb_local_planner/pull/374 There is...

> The destructor for TEB is empty, which I would have expected to have something deleted that was already deleted, but that did not appear to be the case Almost!...

> But looking at the code the `stopWorker` checks if `worker_timer_` and `spin_thread_` are non-null before doing anything, this should be OK to call twice? I checked and `spin_thread_` is...

I am not sure I understand what you mean " let the costmap converter handle itself". Though as the issue is due to the costmap converter, we can treat it...

Something else to discuss: https://github.com/rst-tu-dortmund/teb_local_planner/blob/e3acd7d0d7519406cd136a6d8fead0f783025363/teb_local_planner/src/teb_local_planner_ros.cpp#L259-L260 I am not sure `nav2_core::PlannerException` is used appropriatly here (and in the rest of the code), it looks more like a TEB specific exception to...

> But this is an exception being thrown back to the `controller server`, not for internal TEB use. It would not be acceptable to throw a plugin-specific exception back to...

> @doisyg was #198 synced and should I close it and the ticket with it? No, I wanted to keep it separated from the melodic and noetic syncs. It is...

> @doisyg was #198 synced and should I close it and the ticket with it? You can close #198 and #203 when #291 is merged. I also updated the first...

Yes, I guess the next step is to check that each parameter behaves as expected