Stop replanning when near the goal if path is valid #5876
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Signed-off-by: mini-1235 <[email protected]>
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I am planning to update the detailed behavior walkthrough, which requires generating the behavior tree via the script. I will open the docs PR once this one is approved |
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SteveMacenski
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SteveMacenski
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Otherwise, approved :-)
| <GlobalUpdatedGoal/> | ||
| </Inverter> | ||
| <IsGoalNearby path="{path}" proximity_threshold="1.0" max_robot_pose_search_dist="1.5"/> | ||
| <IsPathValid path="{path}"/> |
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Does this check validity only of the remaining sections of the path?
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No.
What about doing
<IsGoalNearby path="{path}" proximity_threshold="1.0" max_robot_pose_search_dist="1.5"/>
<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="2.0" distance_backward="0.0" />
<IsPathValid path="{remaining_path}"/>
So that we only check if the remaining path is valid? Does this make sense to you?
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Yeah that makes sense to me!
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I think the purpose of this demo is to stop replanning when the path is valid (regardless of whether the robot is near the goal), so I didn't update this demo |
It has a timer to replan occasionally. That occasionally could happen when approaching the goal. If the path is still valid, I would like it not to regardless of the timer |
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I am going to hold this PR so that we can get ros-navigation/docs.nav2.org#854 merged in first |
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