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Have a look at this #12756

when the destination is reached after the path is planned.

<arg name="path_planned" default="true"/>

Condition True

<group if="$(arg path_planned)">
  <!-- stuff that will only be evaluated if path_planned is true -->
</group>

Condition False

<group unless="$(arg path_planned)">
<!-- stuff that will only be evaluated if path_planned is false -->
</group>

Now, path_planned = true when the destination is not reached and else it is false when the destination is reached.