ROS2 Navigator should stop when robot cant reach goal

asked 2021-04-08 06:34:10 -0500

Rinkeeee96
11 ●5 ●7 ●8

updated 2021-04-08 09:13:40 -0500

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

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answered 2021-06-09 03:47:14 -0500

Rinkeeee96
11 ●5 ●7 ●8

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

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answered 2021-04-08 06:43:31 -0500

Rayman
128 ●1 ●10 ●6

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

https://navigation.ros.org/configurat...

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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

Rinkeeee96 ( 2021-04-08 09:13:30 -0500 )edit

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ROS2 Navigator should stop when robot cant reach goal

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