Comment by osilva for Hello there!I've been working with the navigation stack in ROS Kinetic for a while now, and while things have been going fine, one thing has been bothering me, recently - the aborting routine.The thing is, when the robot found an obstacle that it couldn't avoid, it used to do all the recovery behaviors and then abort the navigation. Then, I turned off all the recovery behaviors, and now it just aborts, first thing. The problem is, it aborts way too fast, ridiculously fast. In less than ten seconds, the robot stops and aborts navigation when stuck, before I can do anything to unstuck it.I wanted a way either to increase the aborting cooldown - making it abort after more than a minute, for example -, or reduce it entirely. The problem with aborting is that it straight up cancels the route it was supposed to be navigating, so when the path is clear again, it won't get back to navigating, because the route was aborted. I'd prefer if the robot just stopped in place until the path was clear.However, I'm not finding anything that can help me with that - changing the parameters of the recovery behavior doesn't help, because it's not exactly a recovery behavior, it seems, but something that happens after. Can someone give me a light on what to do?Thanks in advance!

I think the key is that `attempt_end` adds `controller_patience` for `move_base.cpp` source code: else { ROS_DEBUG_NAMED("move_base", "The local planner could not find a valid plan."); ros::Time attempt_end = last_valid_control_ + ros::Duration(controller_patience_); //check if we've tried to find a valid control for longer than our time limit if(ros::Time::now() > attempt_end){ //we'll move into our obstacle clearing mode publishZeroVelocity(); state_ = CLEARING; recovery_trigger_ = CONTROLLING_R; } https://github.com/ros-planning/navigation/blob/noetic-devel/move_base/src/move_base.cpp