Revision history [back]

Replan at a reduced rate or check out one of the other provided behavior trees Nav2 provides (or create your own!).

But the specific problem of path oscillation was the motivation behind this particular behavior tree: https://github.com/ros-planning/navigation2/blob/main/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml which includes both time-based replanning at a reduced rate and event-based replanning due to critical collisions.