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Disable replanning feature in ROS2 navigation2.

asked 2023-06-20 02:10:36 -0600

xiangyang95
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I am working on setting up the navigation module on my robot. In my scenario, I am want to disable the replanning feature in the navigation module. In ROS1, I am able to perform this by setting the planner frequency to 0 and this will only trigger replanning when the robot enters into recoveries behavior. However, I do not see the same settings that is available in ROS2 Navigation2 package. Can anyone share me some thoughts on how to disable replanning in navigation2?

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answered 2023-06-20 14:16:02 -0600

stevemacenski

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You can really easily do that by adjusting the behavior tree to not have replanning or replan only on events that you care about. That's the power given to you using Nav2 based on behavior trees.

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Asked: 2023-06-20 02:10:36 -0600

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Last updated: Jun 20 '23

Disable replanning feature in ROS2 navigation2. edit

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Disable replanning feature in ROS2 navigation2.