DWA local planner failed to make a plan


Sometimes the DWA local planner fails to find a local plan (because the robot is stuck or something) and the recovery behaviors start to be executed. I want to ask how to capture this stage in order to perform custom behaviors. I want to check in my python code if DWA local planner failed, and if so, I want to give the robot some command. But, I do not know how to check that?

Any clue?


Hello @Mohamed_Tolba ,

I’ve personally never done something like that, but you could have a look at the following sources as a starting point: