Controller keeps publishing command velocities after it reaches goal pose about navigation2 HOT 7 OPEN

it still keeps publishing the same command velocity from the instance before it reached its goal position.

How are you measuring this?

Does your robot stop at the goal pose? If so, then clearly it does not continue to publish. We have a bunch of system tests that run over realistic environments and I would have received alot of panicked issues if this was actually occurring - so I'm a bit suspicious that this actually what is happening or perhaps something is incorrect on your side.

Please provide a video

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If you look at the video, you can see in the terminal that the robot suceeds to reach the goal pose, however when i echo the cmd_vel topic it clealry still publishes, and then when I kill the nav2 launch terminal, it stops publishing to cmd_vel.

from navigation2.

I don't think that proves what you think it proves. The robot clearly stops which means that there aren't still cmd_vel's being published - but I suppose with those tiny velocities I could be wrong. Are you sure this isn't the result of something else on your side? Can you reproduce this using our TB3 simulation demo that is the default bringup? If so, that's something actionable we can work through.

Did you test to see if the cmd_vel_nav vs other cmd_vel topics are still publishing to see what potential node is still triggering updates? Do you see any warnings or errors about service or action call failures?

Some more information from your side is required to see (1) is this an issue in Nav2, (2) where in Nav2 the issue lies, if it is in Nav2, and (3) if this can be reproduced on another setup. Please provide your parameter files as well.

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@hjorthchristian Please check if you received /goal_pose when you set it up in Rviz2? I'm having a similar problem, I'm not able to receive anything via the /goal_pose topic when I give the goal pose in Rviz2. Both with the real robot and the robot in simulation move forward to the target pose, the behavior tree shows that the feedback is always active when they already arrived.

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@SteveMacenski

I have tested with the Turtlebot3 simulation and it worked as it should. After reaching the goal position, it stopped sending cmd_vel commands. However, the issue still happens on my physical robot. There are only 3 that are publsihing. Those are controller_server behavior_server and velocity_smoother. The cmd_vel_nav is remapped to cmd_vel in my case. I've attached the parameter file as a txt, since I could not upload the yaml
nav2_params.txt

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And which of them is publishing? Is your physical robot still actually moving by them or is it an aberration of the CLI tools?

You're not giving me much to work from 😉 Please try to do a bit of analysis since if this isn't something I can reproduce, I can't debug it fully without your cooperation

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Hi - any updates? Did you find your issue?

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