make_plan service call should be available at all times

[hershwg]

The make_plan service call to move_base is currently available only when move_base is in an inactive state, in other words when it is not driving the robot somewhere and not making a plan for someone else, etc.

The reason seems to be that the make_plan service call uses the same instance of the costmap and other data structures as the planner which directs the robot. This does not need to be the case however... the service call could copy the costmap and other relevant data and start work immediately. There may be CPU contention, but that can be managed by the caller.

A workaround until this is fixed may be to run a separate instance of move_base just for the service calls, but this duplicates the work of updating the costmaps.

[koenlek]

Using /move_base/make_plan I have this problem. But using /move_base/NavfnROS/make_plan, this problem does not seem to happen. So I guess this can be closed?

Both services are automatically launched when I use move_base...