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

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Merged
SteveMacenski merged 6 commits into from
Feb 19, 2026
Merged

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

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83f344b
Stop replanning when near the goal if path is valid
mini-1235 Jan 16, 2026
c43c6b0
Merge remote-tracking branch 'origin/main' into feat/bt_xml_update
mini-1235 Feb 11, 2026
35b7bea
Update bts
mini-1235 Feb 11, 2026
54ecaeb
Merge remote-tracking branch 'origin/main' into feat/bt_xml_update
mini-1235 Feb 13, 2026
6c21f3f
Update proximity threshold
mini-1235 Feb 17, 2026
f5e07f3
Set distance forward to -1
mini-1235 Feb 18, 2026
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,9 @@ inline BT::NodeStatus TruncatePathLocal::tick()
getInput("max_robot_pose_search_dist", max_robot_pose_search_dist);

bool path_pruning = std::isfinite(max_robot_pose_search_dist);
if (distance_forward < 0.0) {
distance_forward = std::numeric_limits<double>::max();
}
nav_msgs::msg::Path new_path;
getInput("input_path", new_path);
if (!path_pruning || new_path != path_) {
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6 changes: 4 additions & 2 deletions ...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<!--
This Behavior Tree replans the global path once every 15 seconds or if the path becomes invalid. It also has
This Behavior Tree replans the global path once every 15 seconds or if the path becomes invalid and not close enough to goal. It also has
recovery actions specific to planning / control as well as general system issues.
This will be continuous if a kinematically valid planner is selected.
-->
Expand All @@ -19,7 +19,9 @@
<Inverter>
<GlobalUpdatedGoal/>
</Inverter>
<IsPathValid path="{path}"/>
<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
<IsPathValid path="{remaining_path}"/>
</ReactiveSequence>
<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
</Fallback>
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18 changes: 14 additions & 4 deletions nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
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Expand Up @@ -14,10 +14,20 @@
<PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
<RateController hz="0.333">
<RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
<ReactiveSequence>
<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7" input_waypoint_statuses="{waypoint_statuses}" output_waypoint_statuses="{waypoint_statuses}"/>
<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
</ReactiveSequence>
<Fallback name="FallbackComputePathToPose">
<ReactiveSequence name="CheckIfNewPathNeeded">
<Inverter>
<GlobalUpdatedGoal/>
</Inverter>
<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
<IsPathValid path="{remaining_path}"/>
</ReactiveSequence>
<ReactiveSequence>
<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7" input_waypoint_statuses="{waypoint_statuses}" output_waypoint_statuses="{waypoint_statuses}"/>
<ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
</ReactiveSequence>
</Fallback>
<Sequence>
<WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
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12 changes: 11 additions & 1 deletion nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
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Expand Up @@ -15,7 +15,17 @@
<PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
<Fallback name="FallbackComputePathToPose">
<ReactiveSequence name="CheckIfNewPathNeeded">
<Inverter>
<GlobalUpdatedGoal/>
</Inverter>
<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
<IsPathValid path="{remaining_path}"/>
</ReactiveSequence>
<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
</Fallback>
<Sequence>
<WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
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12 changes: 11 additions & 1 deletion ..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,17 @@
<PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
<RateController hz="1.0">
<RecoveryNode number_of_retries="1" name="ComputePathToPose">
<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
<Fallback name="FallbackComputePathToPose">
<ReactiveSequence name="CheckIfNewPathNeeded">
<Inverter>
<GlobalUpdatedGoal/>
</Inverter>
<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
<IsPathValid path="{remaining_path}"/>
</ReactiveSequence>
<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
</Fallback>
<ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
</RecoveryNode>
</RateController>
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