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[Safety] Zero velocity should always be published on controller failure (backport #5279) #5283

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Merged
SteveMacenski merged 1 commit into from
Jun 17, 2025
Merged

[Safety] Zero velocity should always be published on controller failure (backport #5279) #5283

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2 changes: 1 addition & 1 deletion nav2_controller/include/nav2_controller/controller_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,7 +179,7 @@ class ControllerServer : public nav2_util::LifecycleNode
/**
* @brief Called on goal exit
*/
void onGoalExit();
void onGoalExit(bool force_stop);
/**
* @brief Checks if goal is reached
* @return true or false
Expand Down
33 changes: 16 additions & 17 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -476,7 +476,7 @@ void ControllerServer::computeControl()
if (controllers_[current_controller_]->cancel()) {
RCLCPP_INFO(get_logger(), "Cancellation was successful. Stopping the robot.");
action_server_->terminate_all();
onGoalExit();
onGoalExit(true);
return;
} else {
RCLCPP_INFO_THROTTLE(
Expand Down Expand Up @@ -513,71 +513,71 @@ void ControllerServer::computeControl()
}
} catch (nav2_core::InvalidController & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::INVALID_CONTROLLER;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::ControllerTFError & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::TF_ERROR;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::NoValidControl & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::NO_VALID_CONTROL;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::FailedToMakeProgress & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::FAILED_TO_MAKE_PROGRESS;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::PatienceExceeded & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::PATIENCE_EXCEEDED;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::InvalidPath & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::INVALID_PATH;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::ControllerTimedOut & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::CONTROLLER_TIMED_OUT;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (nav2_core::ControllerException & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::UNKNOWN;
result->error_msg = e.what();
action_server_->terminate_current(result);
return;
} catch (std::exception & e) {
RCLCPP_ERROR(this->get_logger(), "%s", e.what());
onGoalExit();
onGoalExit(true);
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
result->error_code = Action::Result::UNKNOWN;
result->error_msg = e.what();
Expand All @@ -587,7 +587,7 @@ void ControllerServer::computeControl()

RCLCPP_DEBUG(get_logger(), "Controller succeeded, setting result");

onGoalExit();
onGoalExit(false);

// TODO(orduno) #861 Handle a pending preemption and set controller name
action_server_->succeeded_current();
Expand Down Expand Up @@ -775,16 +775,15 @@ void ControllerServer::publishZeroVelocity()
publishVelocity(velocity);
}

void ControllerServer::onGoalExit()
void ControllerServer::onGoalExit(bool force_stop)
{
if (publish_zero_velocity_) {
if (publish_zero_velocity_ || force_stop) {
publishZeroVelocity();
}

// Reset the state of the controllers after the task has ended
ControllerMap::iterator it;
for (it = controllers_.begin(); it != controllers_.end(); ++it) {
it->second->reset();
// Reset controller state
for (auto & controller : controllers_) {
controller.second->reset();
}
}

Expand Down
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