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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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NAV2 Doesn't Abort The NAV2 Goal #4432

Closed yigitboracagiran closed 2 weeks ago

yigitboracagiran commented 3 weeks ago

Required Info: When I send the robot to an occupied cell with NAV2 goal on RVIZ2, I'm expecting to abort the NAV2 goal. But instead of abort, robot is going to an unoccupied cell which is close to real NAV2 goal which I sent. Can we abort the NAV2 goal in this situation?

Steps to reproduce issue

1- Run a simulation of a robot 2- Open the navigation on RVIZ2 3- Send a NAV2 goal on RVIZ2 to on the obstacle (to occupied cell)

Expected behavior

4- Aborting the NAV2 goal.

Actual behavior

4- It won't abort the NAV2 goal, instead it will go to the an unoccupied cell which is close to the real NAV2 goal. In the below video, I'm sending the robot to an obstacle with DWB.

https://github.com/ros-navigation/navigation2/assets/111417887/6891a652-ea7f-41f3-9e64-9e5ec3a815b5

SteveMacenski commented 2 weeks ago

All planners have some kind of tolerance parameter. Set that to zero if only exact solutions are valid. For example for NavFn https://github.com/ros-navigation/navigation2/blob/main/nav2_bringup/params/nav2_params.yaml#L281

That should just straight up reject because there's no path for the rest of the system to follow!