fix nav_to_pose planning every iteration#6029
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SteveMacenski merged 1 commit intoros-navigation:mainfrom Mar 16, 2026
Merged
fix nav_to_pose planning every iteration#6029SteveMacenski merged 1 commit intoros-navigation:mainfrom
SteveMacenski merged 1 commit intoros-navigation:mainfrom
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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>
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@mini-1235 can you review, since this was your recent project?
mini-1235
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Mar 16, 2026
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Thanks for catching this! I think I misunderstood the original intent of this Behavior Tree in the previous PR
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Basic Info
Description of contribution in a few bullet points
PR #5876 added
IsGoalNearbycondition to the sequence. However, when to goal is far, this action is Always Failure => always trigger the Fallback and planningChanged logic to replan if:
Description of documentation updates required from your changes
none
Description of how this change was tested
Test in simulation.
Without this fix, the BT replans every tick of the RateController while the goal is far away.
With the fix, it should not only replan iff the conditions above are verified
Future work that may be required in bullet points
I am not using any of the other demo BTs, so I didn't check if any modifications to them are needed
For Maintainers:
backport-*.