navigation2 NavigateWithReplanning

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Certainly! That’s one of the most important features of Nav2 in fact: we allow users, at runtime, to select the behavior tree which defines your navigation logic to be fully customizable without bounds, including customizable plugins for the behavior tree nodes themselves!

This sounds like you just need to create a few behavior tree node plugins for your stop behaviors and compose them into the tree to get the behavior you’d like. You would probably not choose to update based on distance (perhaps time or event based?) but no reason you couldn’t continue to use distance. Potentially an option would be to add a reactive sequence node to stop then replan before continuing.