FollowPath doesn't fail

edit

Hi!

I am having trouble to enter the recovery mode when my robot gets stuck. The controller server returns:

[controller_server-1] [ERROR] [1658311442.240948437] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1658311442.241226939] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.

However the BT doesn't move onto the recovery branch:

Here it is my controller configuration:

controller_server:
  ros__parameters:
    use_sim_time: True
    odom_topic: /odom/unfiltered
    controller_frequency: 5.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.001
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.2
      movement_time_allowance: 20.0
    # Goal checker parameters
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      publish_cost_grid_pc: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 4.0
      max_vel_y: 4.0
      max_vel_theta: 4.5
      min_speed_xy: 0.4
      max_speed_xy: 4.0
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 10
      vtheta_samples: 20
      sim_time: 1.2
      linear_granularity: 0.5
      time_granularity: 1.0
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint"]
      BaseObstacle.scale: 0.02
      ObstacleFootprint.scale: 10.0
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 0.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: 1.0

In case you require more info to help me don't hesitate to reach me out!

Thank you!