latch_xy_goal_tolerance parameter is not loaded

[naoki-rapyuta]

The parameter latch_xy_goal_tolerance is not loaded when defined in a named section (typically "TrajectoryPlannerROS") as follows:

TrajectoryPlannerROS:
  ....

  latch_xy_goal_tolerance: true

The above configuration is not loaded by LatchedStopRotateController used by DWAPlannerROS.

LatchedStopRotateController constructor expects a configuration section name so that it can fetch the parameters:

LatchedStopRotateController::LatchedStopRotateController(const std::string& name) {
  ros::NodeHandle private_nh("~/" + name);
  private_nh.param("latch_xy_goal_tolerance", latch_xy_goal_tolerance_, false);

  rotating_to_goal_ = false;
}

But DWAPlannerROS declares LatchedStopRotateController as a member variable and not passing the name to the constructor. As LatchedStopRotateController accepts an empty string as the default parameter to the constructor, the configuration is not loaded from a named section (typically, "TrajectoryPlannerROS").

Current work around is to put 'latch_xy_goal_tolerance' at the root level as follows:

latch_xy_goal_tolerance: true

TrajectoryPlannerROS:
  ....

[jsseng]

I am having a similar problem where it seems to be ignoring the 'latch_xy_goal_tolerance' setting. The robot gets to the xy position, but keeps rotating once it gets there. Did you have to do any other modifications to other settings? Thanks.

[naoki-rapyuta]

I am having a similar problem where it seems to be ignoring the 'latch_xy_goal_tolerance' setting. The robot gets to the xy position, but keeps rotating once it gets there. Did you have to do any other modifications to other settings? Thanks.

@jsseng The above config change is the only thing I did to make it work as expected.

[haljarrett]

I was having the same issue - stop and rotate behavior not taking place when 'latch_xy_goal_tolerance' was set as described in the documentation (http://wiki.ros.org/base_local_planner?distro=melodic). Moving it into the global namespace as suggested by @naoki-rapyuta fixed the issue and solved what was an ongoing headache for me.