SimpleGoalChecker

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>.yaw_goal_tolerance

Type: double Default: 0.25

Tolerance to meet goal completion criteria (rad).

<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.

<nav2_controller plugin>.symmetric_yaw_tolerance

Type: bool Default: false

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.