Make the robot stop if it finds an obstacle in front

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

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)

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