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: double Default: 0.25

Tolerance to meet goal completion criteria (m).

<nav2_controller plugin>.xy_goal_tolerance_buffer

Type: double Default: 0.0

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: double Default: 1.0

Tolerance to meet goal completion criteria (m).

<nav2_controller plugin>.stateful

Type: bool Default: true

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