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move_base goal_tolerance has no effect

asked 2022-05-30 11:14:44 -0500

phixxx6 gravatar image

I'm trying to set up the navigation stack and was experimenting with the goal_tolerance parameters. I set the following in my launch file: xy_goal_tolerance: 300.0 yaw_goal_tolerance: 300.0 free_goal_vel: True

When I set a 2D Nav Goal with a couple of meters distance to the current 2D Pose in rviz I get the status: "This goal has been accepted by the simple action server"

Only when I set the goal exactly onto the current 2D Pose I get the result "Goal reached." How come, the tolerance parameters seem to be ignored? Best regards

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answered 2022-06-02 09:48:44 -0500

phixxx6 gravatar image

The problem was a rather silly one. I did not configure move_base to actually use the local_planner for which I was setting the goal_tolerance parameter. Instead I was using the default local_planner.

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Asked: 2022-05-30 11:14:44 -0500

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Last updated: Jun 02 '22