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Hello,
I am using ROS2 humble navigation2 package.
I am now trying to check if the robot reached the goal by monitoring a specific topic.
I found out that the length of message which goes to /plan topic reduces as it gets closer to the target goal.
But I'd like to ask if there's better way to find out whether it reached a goal or not. Thank you!
You should be using Nav2's action interface to request navigation commands which will provide you with feedback and ultimately a result once navigation is complete. You should not be monitoring topics or hacking into action server's internal topics.
you can subscribe to the topic in a node and automatically calculate the length of the message and trigger whatever you want to happen once it reached its goal, and then from that you should know that it reached its goal.
Asked: 2023-07-21 07:01:19 -0500
Seen: 355 times
Last updated: Jul 22 '23
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