StoppedGoalChecker

Checks whether the robot has reached the goal pose and come to a stop.

Parameters

<nav2_controller plugin>: nav2_controller plugin name defined in the goal_checker_plugin_id parameter in Controller Server.

<nav2_controller plugin>.trans_stopped_velocity:

Type	Default
double	0.25

Description

Velocity below is considered to be stopped at tolerance met (m/s).

<nav2_controller plugin>.rot_stopped_velocity:

Type	Default
double	0.25

Description

Velocity below is considered to be stopped at tolerance met (rad/s).

<nav2_controller plugin>.xy_goal_tolerance:

Type	Default
double	0.25

Description

Tolerance to meet goal completion criteria (m).

<nav2_controller plugin>.yaw_goal_tolerance:

Type	Default
double	0.25

Description

Tolerance to meet goal completion criteria (rad).

<nav2_controller plugin>.stateful:

Type	Default
bool	true

Description

Whether to check for XY position tolerance after rotating to goal orientation in case of minor localization changes.