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>.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.

<nav2_controller plugin>.symmetric_yaw_tolerance

Type	Default
bool	false

Description

Enable symmetric goal orientation acceptance. When enabled, the robot accepts the goal as reached when oriented at either the goal orientation or the goal orientation + 180°. This is useful for symmetric robots (e.g., differential drives with sensors on both ends) that can navigate equally well in forward and backward directions and does not care which direction it ends in (i.e. controller algorithm decides). See Tuning Guide for detailed information.