Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

The bumper sensor is used to stop the turtlebot at the lowest level: relevant code

Once the navigation stack realizes it isn't moving even after sending velocity commands, it may (if you've enabled it) go into recovery behaviour. The default behaviour (which the default turtlebot launch files use) is here

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.