16holson
commented
7 months ago Were you able to get it to work, I am having the same issue.
Open Omar-Salem opened 8 months ago
16holson
commented
7 months ago Were you able to get it to work, I am having the same issue.
Omar-Salem
commented
7 months ago Nope, ended up rolling my own https://github.com/Omar-Salem/auto_mapper
kaiaai
commented
2 months ago FYI, I've fixed it in this fork https://github.com/kaiaai/nav2_wfe by replacing FollowWaypoints with NavigateToPose. It seems to run fine in my simulation on Humble.
root@cba47ef285fb:/ros_ws# ros2 run nav2_wfd explore
[INFO] [1726355391.254182708] [nav2_waypoint_tester]: Running Waypoint Test
[INFO] [1726355391.255182816] [nav2_waypoint_tester]: Setting initial pose
[INFO] [1726355396.262173448] [nav2_waypoint_tester]: Waiting for amcl_pose to be received
[INFO] [1726355396.265381566] [nav2_waypoint_tester]: Received amcl_pose
[INFO] [1726355396.266600470] [nav2_waypoint_tester]: Getting initial map
[INFO] [1726355396.572894981] [nav2_waypoint_tester]: World points [(-0.751313626074951, -1.8855313722017033)]
[INFO] [1726355396.574911008] [nav2_waypoint_tester]: Sending goal request...
[INFO] [1726355396.592534125] [nav2_waypoint_tester]: Goal accepted
[INFO] [1726355396.594453162] [nav2_waypoint_tester]: Waiting for 'NavigateToPose' action to complete
[INFO] [1726355413.279877232] [nav2_waypoint_tester]: World points [(-0.9431503636274187, 2.1662904446966076)]
[INFO] [1726355413.280929219] [nav2_waypoint_tester]: Sending goal request...
[INFO] [1726355413.284168474] [nav2_waypoint_tester]: Goal accepted
[INFO] [1726355413.285501550] [nav2_waypoint_tester]: Waiting for 'NavigateToPose' action to complete
[INFO] [1726355447.563202071] [nav2_waypoint_tester]: World points [(1.3609262054225886, -1.9553356329805691)]
[INFO] [1726355447.564503009] [nav2_waypoint_tester]: Sending goal request...
[INFO] [1726355447.568345977] [nav2_waypoint_tester]: Goal accepted
[INFO] [1726355447.569708578] [nav2_waypoint_tester]: Waiting for 'NavigateToPose' action to complete
[INFO] [1726355495.616491576] [nav2_waypoint_tester]: No More Frontiers
gets stuck at the very first Sending goal request...
[INFO] [1710733583.916000988] [nav2_waypoint_tester]: Running Waypoint Test [INFO] [1710733583.918212541] [nav2_waypoint_tester]: Setting initial pose [INFO] [1710733588.926145661] [nav2_waypoint_tester]: Waiting for amcl_pose to be received [WARN] [1710733588.928569105] [nav2_waypoint_tester]: New publisher discovered on topic '/odom', offering incompatible QoS. No messages will be received from it. Last incompatible policy: DURABILITY [INFO] [1710733588.929432793] [nav2_waypoint_tester]: Setting initial pose [INFO] [1710733593.935766442] [nav2_waypoint_tester]: Waiting for amcl_pose to be received [INFO] [1710733593.937289129] [nav2_waypoint_tester]: Setting initial pose [INFO] [1710733598.943071324] [nav2_waypoint_tester]: Waiting for amcl_pose to be received [INFO] [1710733599.053183317] [nav2_waypoint_tester]: World points [(-1.781061853139318, 0.6589538460711498)] [INFO] [1710733599.053840734] [nav2_waypoint_tester]: Sending goal request...