PositionGoalChecker

Checks whether the robot has reached the goal pose.

Parameters

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

<nav2_controller plugin>.xy_goal_tolerance

Type	Default
double	0.25

Description

Tolerance to meet goal completion criteria (m).

<nav2_controller plugin>.xy_goal_tolerance_buffer

Type	Default
double	0.0

Description

Hysteresis buffer for stateful XY position checking (m). When stateful is true, after the XY goal condition has been satisfied, the robot may drift within xy_goal_tolerance + xy_goal_tolerance_buffer without rechecking the XY position. If the robot moves outside this buffered region, the previous XY reached state is cleared and the XY position must be checked again.

<nav2_controller plugin>.path_length_tolerance

Type	Default
double	1.0

Description

Tolerance to meet goal completion criteria (m).

<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.