Make the robot stop if it finds an obstacle in front

[kevpretell]

I am using the navigation stack (nav2) without problems, but I would like to understand how I can make the robot stop from its path if it finds a dynamic obstacle in front of it (at a minimum distance of n metres)?

Is there a demo or tutorial to take inspiration from?

many thanks in advance

[roalgoal]

By default, Nav2 will try to plan around the dynamic obstacle and complete the goal sent.

I’m unaware if there is a modification that you can do in a default configuration to achive this, but what you can do is write something on top of Nav2 to achieve this behavior.

For example, a Nav2 action client could cancel the current Nav2 goal running in the server if the robot detects whatever parameter you need (like minimum distance)