Problems when sending it to goal

[lagartoxa]

Hi everyone,

I followed your README, but I still can't send the Mir to a goal with Rviz. The navigation launcher keeps giving me error message: [ERROR] [1694195735.450105552, 843.715000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

(Actually I could send the Mir to a goal only once. All other tries gave me this same error, even after restarting the launcher and even the computer)

Steps I followed:

• I installed mir_robot by apt (sudo apt install ros-noetic-mir-robot)
• I ran the commands from the Gazebo demo (existing map) section:

  
  ### gazebo:
  roslaunch mir_gazebo mir_maze_world.launch
  rosservice call /gazebo/unpause_physics   # or click the "start" button in the Gazebo GUI

localization:

roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0

or alternatively: roslaunch mir_gazebo fake_localization.launch delta_x:=-10.0 delta_y:=-10.0

navigation:

roslaunch mir_navigation start_planner.launch \ map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \ virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz

 - I used the 2D Nav Goal button on Rviz to send the robot to a point in the map. Output from `rostopic echo /move_base_simple/goal` :

WARNING: no messages received and simulated time is active. Is /clock being published? header: seq: 6 stamp: secs: 1084 nsecs: 125000000 frame_id: "map" pose: position: x: 15.26579475402832 y: 3.153439521789551 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.9999401232387972 w: 0.010943031443757401

<img width="531" alt="Screenshot 2023-09-08 at 15 01 32" src="https://github.com/DFKI-NI/mir_robot/assets/356524/6fee9f68-a7ac-4c22-965c-40c0527c29a2">

Is there something else I should do to make it work? I did the same test on two different computers, both Mac M1, running Ubuntu 20.04 ARM

Best Regards

[mintar]

First off, thanks for the detailed bug report.

The error message you see means that the SBPL global planner could not find a path between the current robot pose and the goal pose. For example, because there is no obstacle-free connection between the two poses, the current robot pose is in collision or the target pose is in collision with an obstacle.

However, your situation is weird. I just reproduced the same steps as you, and for me, it finds paths between all the poses you gave.

I've tested this on my Ubuntu 20.04 x86_64, while you are using ARM; however, I don't think this should matter. So I'm out of ideas, sorry.

[mintar]

Closing due to lack of activity.