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I am using the navigation stack with Trajectory Planner and dwa enabled. I am looking for a straightforward way to stop my robot during its navigation (for emergency or safety reason for example). One way to do this is to send the current robot position as a goal, but I am wondering if a stop navigation service already exists. I found the topic /move_base/cancel, but it is a request to cancel a specific goal. Any suggestions?


Originally posted by rastaxe on ROS Answers with karma: 620 on 2012-10-18

Post score: 1


Original comments

Comment by ctguell on 2013-10-11:
@rastaxe did you ever tested to stop the robot posting its actual position as goal?? if so how did you do it?

Comment by rastaxe on 2014-10-02:
sorry for the late response, but I found only now this comment. Yes, actually I use the current position of the robot as a goal, to stop it in a reactive way. It is straightforward, with amcl you can read the amcl_pose topic and sends this pose as goal with actionlib.

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You should use actionlib to send goals to your robot as shown in this tutorial. The action client provides the method cancelGoal. When you call it, the robot should stop moving.


Originally posted by Lorenz with karma: 22731 on 2012-10-18

This answer was ACCEPTED on the original site

Post score: 5


Original comments

Comment by ctguell on 2013-10-15:
@Lorenz how should i call the cancelGoal ? In the same node as in the tutorial? Im working on a person detecting code so the idea is that when a person is detected to stop the robot. Any help would be appreciated. Thanks

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