rl/safe_action is empty

[ans-qureshi]

Hi! I am trying to test your code but I am facing two problems:

1. turtlebot gazebo is not going towards the goal by itself
2. After SLAM failure, recovery action is not being provided

I have run following tools simultaneously:

1. roslaunch rl_nav turtlebot_gazebo.launch
2. roslaunch turtlebot_teleop keyboard_teleop.launch (to teleoperate robot)
3. ORB_SLAM
4. roslaunch rl_nav test.launch

point 4. is giving following messages:
`[ INFO] [1579020498.221108993]: Opened joystick: /dev/input/js0. deadzone_: 0.120000.
[ INFO] [1579020513.311361701, 8.159000000]: Waiting for the move_base action server to come up
[ INFO] [1579020525.572013310, 13.160000000]: Waiting for the move_base action server to come up
[ INFO] [1579020539.021830074, 18.162000000]: Waiting for the move_base action server to come up
[ INFO] [1579020552.466740937, 23.162000000]: Waiting for the move_base action server to come up
[ INFO] [1579020565.903827427, 28.162000000]: Waiting for the move_base action server to come up

You can check the rqt_graph (attached):
`

There seems to be a problem with PlannerNode.py since every topic that it is publishing is empty.