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navigation not working #4027

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sys-met opened this issue Dec 31, 2023 · 9 comments
Closed

navigation not working #4027

sys-met opened this issue Dec 31, 2023 · 9 comments

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@sys-met
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sys-met commented Dec 31, 2023 •
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I'm having navigation issues in my real robot app. Does anyone have any suggestions?

Required Info:

  • Operating System:

    • ubuntu 20.04

  • ROS2 Version:

    • galactic

  • Version or commit hash:

    • ros-galactic-nav2-amcl 1.0.12-1focal.20221208.073405
      ros-galactic-nav2-behavior-tree 1.0.12-1focal.20221208.073533
      ros-galactic-nav2-bringup 1.0.12-1focal.20221208.082839
      ros-galactic-nav2-bt-navigator 1.0.12-1focal.20221208.075615
      ros-galactic-nav2-common 1.0.12-1focal.20221208.070118
      ros-galactic-nav2-controller 1.0.12-1focal.20221208.075637
      ros-galactic-nav2-core 1.0.12-1focal.20221208.075333
      ros-galactic-nav2-costmap-2d 1.0.12-1focal.20221208.074030
      ros-galactic-nav2-dwb-controller 1.0.12-1focal.20221208.081126
      ros-galactic-nav2-lifecycle-manager 1.0.12-1focal.20221208.073619
      ros-galactic-nav2-map-server 1.0.12-1focal.20221208.073451
      ros-galactic-nav2-msgs 1.0.12-1focal.20221208.071323
      ros-galactic-nav2-navfn-planner 1.0.12-1focal.20221208.075902
      ros-galactic-nav2-planner 1.0.12-1focal.20221208.080258
      ros-galactic-nav2-recoveries 1.0.12-1focal.20221208.080258
      ros-galactic-nav2-regulated-pure-pursuit-controller 1.0.12-1focal.20221208.080240
      ros-galactic-nav2-rotation-shim-controller 1.0.12-1focal.20221208.080642
      ros-galactic-nav2-rviz-plugins 1.0.12-1focal.20221208.075041
      ros-galactic-nav2-smac-planner 1.0.12-1focal.20221208.080441
      ros-galactic-nav2-theta-star-planner 1.0.12-1focal.20221208.080629
      ros-galactic-nav2-util 1.0.12-1focal.20221208.072658
      ros-galactic-nav2-voxel-grid 1.0.12-1focal.20221208.071338
      ros-galactic-nav2-waypoint-follower 1.0.12-1focal.20221208.080633

  • DDS implementation:

Steps to reproduce issue

[INFO] [1704044026.366409294] [controller_server]: Received a goal, begin comput ing control effort.
[WARN] [1704044026.366921387] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general _goal_checker . This warning will appear once.
[INFO] [1704044027.469682779] [controller_server]: Passing new path to controlle r.
[INFO] [1704044028.469687944] [controller_server]: Passing new path to controlle r.
[INFO] [1704044029.569699182] [controller_server]: Passing new path to controlle r.
[INFO] [1704044030.569678935] [controller_server]: Passing new path to controlle r.
[INFO] [1704044031.669684518] [controller_server]: Passing new path to controlle r.
[INFO] [1704044032.669720935] [controller_server]: Passing new path to controlle r.
[INFO] [1704044033.669683386] [controller_server]: Passing new path to controlle r.
[INFO] [1704044034.770931629] [controller_server]: Passing new path to controlle r.
[INFO] [1704044035.769683456] [controller_server]: Passing new path to controlle r.
[ERROR] [1704044036.370203468] [controller_server]: Failed to make progress
[WARN] [1704044036.370358025] [controller_server_rclcpp_node]: [follow_path] [Ac tionServer] Aborting handle.
[Thread 0x7f87795950 (LWP 10832) exited]
[INFO] [1704044036.387111081] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[New Thread 0x7f86f94950 (LWP 10856)]
[INFO] [1704044036.391125286] [controller_server]: Received a goal, begin comput ing control effort.
[INFO] [1704044036.793030889] [controller_server]: Passing new path to controlle r.
[INFO] [1704044037.893147911] [controller_server]: Passing new path to controlle r.
[INFO] [1704044038.893015598] [controller_server]: Passing new path to controlle r.
[INFO] [1704044039.993024244] [controller_server]: Passing new path to controlle r.
[INFO] [1704044040.993388405] [controller_server]: Passing new path to controlle r.
[INFO] [1704044042.093027997] [controller_server]: Passing new path to controlle r.
[INFO] [1704044043.093020201] [controller_server]: Passing new path to controlle r.
[INFO] [1704044044.193000177] [controller_server]: Passing new path to controll

/////////////// gdb ////////////

(gdb) backtrace

#0 futex_abstimed_wait_cancelable (private=0, abstime=0x7fffff8a28,
clockid=, expected=0, futex_word=0x555585a634)
at ../sysdeps/nptl/futex-internal.h:320
#1 __pthread_cond_wait_common (abstime=0x7fffff8a28, clockid=,
mutex=0x555585a5d8, cond=0x555585a608) at pthread_cond_wait.c:520
#2 __pthread_cond_timedwait (cond=0x555585a608, mutex=0x555585a5d8,
abstime=0x7fffff8a28) at pthread_cond_wait.c:665
#3 0x0000007fb6e800cc in ddsrt_cond_waituntil ()
from /opt/ros/galactic/lib/aarch64-linux-gnu/libddsc.so.0
#4 0x0000007fb6e68cfc in ?? ()
from /opt/ros/galactic/lib/aarch64-linux-gnu/libddsc.so.0
#5 0x0000007fb6f0f10c in rmw_wait ()
from /opt/ros/galactic/lib/librmw_cyclonedds_cpp.so
#6 0x0000007fb7c928bc in rcl_wait () from /opt/ros/galactic/lib/librcl.so
#7 0x0000007fb7e8ff80 in rclcpp::Executor::wait_for_work(std::chrono::duration<long, std::ratio<1l, 1000000000l> >) () from /opt/ros/galactic/lib/librclcpp.so
#8 0x0000007fb7e902ac in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration<long, std::ratio<1l, 1000000000l> >) ()
from /opt/ros/galactic/lib/librclcpp.so
#9 0x0000007fb7e941f8 in rclcpp::executors::SingleThreadedExecutor::spin() ()
from /opt/ros/galactic/lib/librclcpp.so
#10 0x0000007fb7e92c1c in rclcpp::spin(std::shared_ptrrclcpp::node_interfaces::NodeBaseInterface) () from /opt/ros/galactic/lib/librclcpp.so
@SteveMacenski
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Galactic is EOL and won't receive any support unfortunately. Please upgrade to a currently supported ROS 2 distribution (Humble or newer)

@sys-met
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sys-met commented Jan 4, 2024

Hi . I raised humble. Navigation failed again. I'm sharing a picture because I can't copy. I tried navigation with slam_toolbox localization and nav2_bringup localization. I got almost the same result

Operating System
ubuntu 22.04, arm, humble

Version
ros-humble-navigation2 1.1.12-1jammy.20231206.072740

Screenshot from 2024-01-04 13-55-22

@SteveMacenski
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What is the issue? You signaled a Control+C ^C so of course it exited.

@sys-met
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sys-met commented Jan 6, 2024

It's similar to the problem I encountered in Galactic.

terminal

[lifecycle_manager-8] [INFO] [1704534384.853787268] [lifecycle_manager_navigation]: Creating bond timer...
[bt_navigator-5] [INFO] [1704534438.005770732] [bt_navigator]: Begin navigating from current location (-0.02, -0.03) to (1.46, 0.05)
[controller_server-1] [INFO] [1704534438.028356473] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [WARN] [1704534438.028571421] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general_goal_checker . This warning will appear once.
[controller_server-1] [INFO] [1704534439.079135100] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534440.128998675] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534441.128997328] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534442.179026059] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534443.178967628] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534444.229270057] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534445.229007772] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534446.279020410] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534447.278997031] [controller_server]: Passing new path to controller.
[controller_server-1] [ERROR] [1704534448.079202974] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1704534448.080796465] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1704534448.096900536] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-1] [INFO] [1704534448.099923819] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [WARN] [1704534448.172397503] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[controller_server-1] [INFO] [1704534448.351850983] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534449.351139271] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534450.400559356] [controller_server]: Passing new path to controller.
[controller_server-1] [WARN] [1704534450.453034227] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[controller_server-1] [WARN] [1704534451.082163621] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[controller_server-1] [WARN] [1704534451.153570378] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[controller_server-1] [INFO] [1704534451.403667906] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534452.453657939] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534453.454996384] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534454.503655739] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534455.503654080] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534456.553804477] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534457.553648286] [controller_server]: Passing new path to controller.
[controller_server-1] [ERROR] [1704534458.203793577] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1704534458.205626078] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1704534458.226482131] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-3] [INFO] [1704534458.227484788] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[planner_server-3] [WARN] [1704534458.853917670] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 1.6096 Hz
[controller_server-1] [INFO] [1704534458.870450023] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [1704534459.921064431] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534460.920932146] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534461.970926815] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534463.020925130] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534464.020923939] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534465.070923503] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534466.070926166] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534467.120923543] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534468.170923889] [controller_server]: Passing new path to controller.
[controller_server-1] [ERROR] [1704534468.871057279] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1704534468.871247123] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1704534468.886548277] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-1] [INFO] [1704534468.889355570] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [WARN] [1704534468.971814051] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[controller_server-1] [INFO] [1704534469.189905364] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534470.189916204] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534471.239909571] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534472.289904448] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534473.289941173] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1704534474.340138707] [controller_server]: Passing new path to controller.

Screenshot from 2024-01-06 13-49-43

@sys-met
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sys-met commented Jan 7, 2024

The problem was that I forgot the cmd_vel setting. I set it up with twist_mux and it works fine.

@SteveMacenski
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Glad you found your issue!

@WaelSonics
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@sys-met I am facing the same issue. you mentioned that "The problem was that I forgot the cmd_vel setting. I set it up with twist_mux and it works fine." could you please clarify more in details.

@sys-met
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sys-met commented Apr 9, 2024

Due to cmd_vel tag mismatch, the vel value I gave was going to the wrong tag.

@hoangnhuet
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hi, thanks for your great work. Iam a new in ros2 and i am facing the same problem. Could you tell me more about how can i fix this cmd_vel (the params file location, ...) setting. iam really appreciate.

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@SteveMacenski @sys-met @WaelSonics @hoangnhuet