Global Planning and Stop Replanning
I have a ros robot working on Melodic devel.
When i start navigation, my robot generates global plan. When the robot see any obstacle in global plan, Robot replans the path and try to escape obstacle. It is normal behavior.
What I would like to do is to get the robot to stop if there is any obstacle in its global path. In this case, either the obstacle moves and the robot again continues to move towards the goal along the original path or the obstacle doesn't move and the robot keeps staying in its position.
Is there any parameters related about that? Or how can we do that ?
With move_base I don't see how and personally I also don't see why you want that. But maybe move_base_flex can do that with a custom state machine. You might also need to tell the local planner to stop replanning.