Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04.2 LTS
• ROS2 Version:
  • Galactic binaries
• Version or commit hash:
  • ros-galactic-navigation2 1.0.7-1focal.20211012.051615
• DDS implementation:
  • (I'm not sure how to find this, it's whatever the default is for galactic)

Steps to reproduce issue

1. Follow the example in the Getting Started page:

source /opt/ros/galactic/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/galactic/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py

2. Set a decent initial pose estimate
3. Change to navigate through poses mode
4. Set intermediate pose facing north at the other end of the space (straight ahead from start)
5. Set goal pose in the middle between the starting pose and the intermediate pose (facing the same way as the other two)

Here's what that looks like:

Expected behavior

Robot should travel all the way to the intermediate pose first (at the other end of the room), then turn around and travel back to the final pose, then turn back around.

Actual behavior

Robot travels towards intermediate pose, but upon passing over goal pose, it stops.

Here's where it stopped:

Additional information

Nothing yet.