ROS2 Navigator should stop when robot cant reach goal

Hey all,

I am working on an algorithm for automated reconnaissance. Its working very well, except when I'm sending it to coordinates it cant reach. For my use case this is fine, but the navigation should stop once it cant find a route to the goal pose. But it does not, the robot stays next to the wall and keeps trying. How can I configure it so the navigator stops?

Thanks in advance!

EDIT: log: https://ibb.co/qkfggyX

Asked by Rinkeeee96 on 2021-04-08 06:34:10 UTC

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Answers

You can configure SimpleProgressChecker to abort navigation when not enough progress is made:

https://navigation.ros.org/configuration/packages/nav2_controller-plugins/simple_progress_checker.html

Asked by Rayman on 2021-04-08 06:43:31 UTC

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Thanks for the tip! Ive been playing with these values but sadly its not working. This is the log from once the robot reaches the wall. https://ibb.co/qkfggyX

Asked by Rinkeeee96 on 2021-04-08 09:13:30 UTC

To fix this i made my own progress checker as the built in one just did not seem to work.

Asked by Rinkeeee96 on 2021-06-09 03:47:14 UTC