# Nav2有时无法到达目标，出现follow_path节点halt获取结果失败报错

> 原文链接：https://robotics.hellobike.com/pitfalls/2026-02-27-robotics-se-115435
> 频道：pitfalls | 更新日期：2026-02-27 | 标签：auto, stackexchange, nav2
> 核心摘要：Gazebo仿真中Nav2偶现无法到达目标问题，可修改TF设置或修改示例代码调整超时判定条件

# Nav2有时无法到达目标，出现follow_path节点halt获取结果失败报错

::: v-pre
> 本文由 AI 根据公开内容整理，可能有误，请以原文为准：[Nav2 sometimes can't reach goal. Failed to get result for follow_path in node halt. [follow_path] Client requested to cancel the goal. Cancelling](https://robotics.stackexchange.com/questions/115435/nav2-sometimes-cant-reach-goal-failed-to-get-result-for-follow-path-in-node-ha)（Robotics Stack Exchange #115435）

**状态**：有绕过办法

## 问题

Gazebo仿真中Nav2有时无法到达目标，终端报错提示消息过滤丢弃雷达帧、等待compute_path_to_pose目标请求超时、follow_path节点halt时获取结果失败，目标被取消。

## 环境

ROS 2 · Nav2 导航栈 · Gazebo / Ignition 仿真环境 · SLAM 建图与定位系统

## 解决办法

1. 修改TF设置，参考ROS2 Navg相关问题的nav2_params.yaml配置方法解决TF相关报错。
2. 修改示例代码，调大或移除切换到恢复点的时间判定条件。

原问题作者：Edvard；采纳答案作者：dongdong。原内容依 CC BY-SA 4.0 授权，本页摘要同样依 CC BY-SA 4.0 授权。
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## 原始参考来源 (Sources)

- [Robotics Stack Exchange #115435：Nav2 sometimes can't reach goal. Failed to get result for follow_path in node halt. [follow_path] Client requested to cancel the goal. Cancelling](https://robotics.stackexchange.com/questions/115435/nav2-sometimes-cant-reach-goal-failed-to-get-result-for-follow-path-in-node-ha)