In some extreme situation, the planner will give shortest but impassible path, and the controller detect that, so the robot will stop.
But the BT can continue to run normally. (if I set new goal, it will refresh and plan new path)
Try to fix the following codes to deal with the bug:
https://github.com/DIT-ROBOTICS/Eurobot-2026-Navigation2/blob/develop/src/Navigation2/nav2_navfn_planner/src/navfn_planner.cpp
https://github.com/DIT-ROBOTICS/Eurobot-2026-Navigation2/blob/develop/src/Navigation2/nav2_navfn_planner/src/navfn.cpp
Or consider using another planner:
SMAC planner:
https://docs.ros.org/en/humble/p/nav2_smac_planner/
problem example:
ros2 run object_layer ObjectSim
open all section in keepout_layer
In some extreme situation, the planner will give shortest but impassible path, and the controller detect that, so the robot will stop.
But the BT can continue to run normally. (if I set new goal, it will refresh and plan new path)
Try to fix the following codes to deal with the bug:
https://github.com/DIT-ROBOTICS/Eurobot-2026-Navigation2/blob/develop/src/Navigation2/nav2_navfn_planner/src/navfn_planner.cpp
https://github.com/DIT-ROBOTICS/Eurobot-2026-Navigation2/blob/develop/src/Navigation2/nav2_navfn_planner/src/navfn.cpp
Or consider using another planner:
SMAC planner:
https://docs.ros.org/en/humble/p/nav2_smac_planner/
problem example:
ros2 run object_layer ObjectSimopen all section in keepout_layer