Navigation2] Not publishing to /goal_pose topic but the controller keeps passing new path to controller.

asked 2023-07-27 02:09:45 -0500

kenloumixx gravatar image

Hello, I'm a newbie in the robot field.

As I described in the head of this question, I use navigation2 to make the robot navigate to the target human.

I publish the current position of the target human to /goal_pose when the human is in the robot's sight.

However, the controller keeps passing new path to controller when the robot stops to publish the current position of the target human after publishing messages to /goal_pose topic.

I'd like to ask if the messages published to the topic /goal_pose are accumulated and it is released when there's no message in /goal_pose? or the controller generates the new path based on the previous goal_pose?

Thanks in advance!

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I'm not sure I understand your question, but just to be clear the navigation will continue updating the path until the gaol is reached. It's running a statemachine and stops updating path when the goal is reached although I don't rememeber the names of the different states. If you want it to stop providing paths, you can stop the navigation, or there may be an option to have the stack provide a single path that you can then do something with yourself. I don't remember if that single path option was ROS or ROS2, or both.

billy gravatar image billy  ( 2023-07-27 13:00:50 -0500 )edit