From b895e98f3ad6ac2cccc94d2fcd86a715adafa60b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Germ=C3=A1n=20Castro?= <german.castro@unsw.edu.au>
Date: Wed, 16 May 2018 16:15:34 +1000
Subject: [PATCH] Prevent thread to being created every time a goal is
 published

---
 crosbot_explore/src/nodes/astar_explorer_node.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/crosbot_explore/src/nodes/astar_explorer_node.cpp b/crosbot_explore/src/nodes/astar_explorer_node.cpp
index 7fbf07e..85e1eee 100644
--- a/crosbot_explore/src/nodes/astar_explorer_node.cpp
+++ b/crosbot_explore/src/nodes/astar_explorer_node.cpp
@@ -223,7 +223,9 @@ void AStarExplorerROSNode::handleExploreMode(crosbot_explore::SetExplorerModeReq
 
             // Start planning thread
             planningOperating = true;
-            planningThread->start();
+            if( !planningThread->isAlive() ){
+                planningThread->start();
+            }
         } else {
             ROS_ERROR("%s No pose provided for A* goal", LOG_START);
             response.success = false;
-- 
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