locomotor doesn't stop robot on reaching goal

asked 2019-02-26 10:58:19 -0600

harshal gravatar image

updated 2019-02-26 10:58:59 -0600

Hi, I am using Ubuntu 16.04. ROS-Kinetic.

Using Dlux and dwb planners on move_base executes properly, and on reaching the goal, the robot stops, and I am able to see a zero velocity message on cmd_vel topic.

However, using locomotor, the send_action script ends, and the locomotor node acknowledges both, 'Goal reached' and 'Plan completed', yet the robot keeps moving with the last published (non-zero) velocity message[combination of x,y,angular z].

Is there any dwb_critic parameter that I need to tune to address this issue? Or is an 'at_goal' check supposed to occur in locomotor node?

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