PoseProgressChecker

Checks whether the robot has made progress based on translation and rotation.

Parameters

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

<nav2_controller plugin>.required_movement_radius

Type: double Default: 0.5

Minimum amount a robot must move to be progressing to goal (m).

<nav2_controller plugin>.required_movement_angle

Type: double Default: 0.5

Minimum amount a robot must rotate to be progressing to goal (rad).

<nav2_controller plugin>.movement_time_allowance

Type: double Default: 10.0

Maximum amount of time a robot has to move the minimum radius or the mnimum angle (s).