I agree with @Jeremie, decouping the move_base in separate modules in a state machine would greatly improve its flexibility. Regarding features, a nice little thing to have IMO would be to be able to pass the goal tolerance (xy and yaw) in the goal message to move base. --- [Visit Topic](https://discourse.ros.org/t/ros2-navigation-input-requested/4884/10) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: