Stop replanning when near the goal if path is valid by mini-1235 · Pull Request #5876 · ros-navigation/navigation2

mini-1235 · 2026-01-16T12:52:19Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Fixes #4003
Primary OS tested on	Ubuntu
Robotic platform tested on	Tb4
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 · 2026-01-16T12:55:13Z

I am planning to update the detailed behavior walkthrough, which requires generating the behavior tree via the script. I will open the docs PR once this one is approved

codecov · 2026-01-16T13:35:59Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...tree/plugins/action/truncate_path_local_action.cpp	`100.00% <100.00%> (ø)`

... and 15 files with indirect coverage changes

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SteveMacenski

Otherwise, approved :-)

nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml

SteveMacenski · 2026-01-20T18:14:18Z

Perhaps also: https://github.com/ros-navigation/navigation2/blob/83f344b115b2d40c0b326c970e0e871c38d18e6a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml

mini-1235 · 2026-01-21T12:32:27Z

Perhaps also: https://github.com/ros-navigation/navigation2/blob/83f344b115b2d40c0b326c970e0e871c38d18e6a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml

I think the purpose of this demo is to stop replanning when the path is valid (regardless of whether the robot is near the goal), so I didn't update this demo

SteveMacenski · 2026-01-21T18:55:57Z

I think the purpose of this demo is to stop replanning when the path is valid (regardless of whether the robot is near the goal), so I didn't update this demo

It has a timer to replan occasionally. That occasionally could happen when approaching the goal. If the path is still valid, I would like it not to regardless of the timer

mini-1235 · 2026-01-23T11:53:25Z

I am going to hold this PR so that we can get ros-navigation/docs.nav2.org#854 merged in first

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 · 2026-02-11T15:17:36Z

I will do the docs PR tomorrow, not feeling well today 🤒

...igator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

SteveMacenski

Plz just confirm that you tested this to work properly for me :-) Then I'll merge

mini-1235 · 2026-02-19T01:11:25Z

Yes, I confirm that I have tested it :)

) * Stop replanning when near the goal if path is valid Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bts Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update proximity threshold Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Set distance forward to -1 Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: panav <panav@10xconstruction.com>

) * Stop replanning when near the goal if path is valid Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bts Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update proximity threshold Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Set distance forward to -1 Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

) * Stop replanning when near the goal if path is valid Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bts Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update proximity threshold Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Set distance forward to -1 Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: panav <panav@10xconstruction.com>

) * Stop replanning when near the goal if path is valid Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bts Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update proximity threshold Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Set distance forward to -1 Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: panav <panav@10xconstruction.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com>

) * Stop replanning when near the goal if path is valid Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bts Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update proximity threshold Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Set distance forward to -1 Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

PR ros-navigation#5876 added `IsGoalNearby` condition to the sequence. However, when to goal is far, this action is Always Failure => always trigger the Fallback and planning Changed logic to replan if: - path is invalid - always - goal updated - always - IsGoalNearby AND timer expired

PR ros-navigation#5876 added `IsGoalNearby` condition to the sequence. However, when to goal is far, this action is Always Failure => always trigger the Fallback and planning Changed logic to replan if: - path is invalid - always - goal updated - always - IsGoalNearby AND timer expired Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

PR #5876 added `IsGoalNearby` condition to the sequence. However, when to goal is far, this action is Always Failure => always trigger the Fallback and planning Changed logic to replan if: - path is invalid - always - goal updated - always - IsGoalNearby AND timer expired Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

Stop replanning when near the goal if path is valid

83f344b

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

SteveMacenski reviewed Jan 20, 2026

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nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml Outdated Show resolved Hide resolved

mini-1235 mentioned this pull request Feb 10, 2026

Refactor: change parameter naming style ros-navigation/docs.nav2.org#854

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mini-1235 added 2 commits February 11, 2026 13:01

Merge remote-tracking branch 'origin/main' into feat/bt_xml_update

c43c6b0

Update bts

35b7bea

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 mentioned this pull request Feb 12, 2026

Stop replanning when near the goal if path is valid ros-navigation/docs.nav2.org#872

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Merge remote-tracking branch 'origin/main' into feat/bt_xml_update

54ecaeb

SteveMacenski reviewed Feb 17, 2026

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...igator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml Outdated Show resolved Hide resolved

...igator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml Outdated Show resolved Hide resolved

mini-1235 added 2 commits February 17, 2026 08:03

Update proximity threshold

6c21f3f

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

Set distance forward to -1

f5e07f3

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

SteveMacenski approved these changes Feb 18, 2026

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SteveMacenski merged commit c139fb7 into ros-navigation:main Feb 19, 2026
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adivardi mentioned this pull request Mar 12, 2026

fix nav_to_pose planning every iteration #6029

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Stop replanning when near the goal if path is valid#5876

Stop replanning when near the goal if path is valid#5876
SteveMacenski merged 6 commits intoros-navigation:mainfrom
mini-1235:feat/bt_xml_update

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Basic Info

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