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move_base_flex and flexbe

asked 2021-02-01 06:03:50 -0600

joao.aguizo gravatar image


Me and my team have been looking into the possibility of switching from move_base ( to move_base_flex (, since this last one is compatible with SMACH state machines and would allow us to elaborate in more complex recovery mechanisms. Considering that mostly of our decision making is implemented using FlexBe (, which expands SMACH in so many ways, We would like to know if it is possible to combine FlexBe with move_base_flex, in order to get the best of the two worlds. Although on paper it should be possible, is there any known limitation?

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answered 2021-03-29 20:21:25 -0600

jorge gravatar image

updated 2021-03-29 20:24:10 -0600

Hi, short answer: yes. move_base_flex is what u need (or navigation2 if u are using ROS2). I also use SMACH to call MBF actions; see here some states I use. My states are very thin wrappers for smach_ros.SimpleActionState class, e.g. this is my wrapper for MoveBase action. U may need to add a GetPath and Recovery states to call these other MBF actions, but it will be trivial (or I can add them, if you are not sure how to). Or you can include smach_ros.SimpleActionState and provide the action details directly, if you don't need any extra functionality.

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Hello Jorge, thank you very much for your input. Me and my team will definitely take a look into this possibility.

joao.aguizo gravatar image joao.aguizo  ( 2021-04-16 05:37:30 -0600 )edit

answered 2023-07-19 12:48:41 -0600

dcconner gravatar image

For anyone coming here late, I suggest you may also want to look at Which has interfaces for move_base in ROS 1 and Nav2 in ROS 2.

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Asked: 2021-02-01 06:03:50 -0600

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Last updated: Jul 19 '23