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abizovnuralem / go2_omniverse

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
BSD 2-Clause "Simplified" License
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Nav2 unable to work when I set a waypoint in Rviz #39

Closed brandon-lawrence96 closed 3 weeks ago

brandon-lawrence96 commented 2 months ago

Hi,

I have followed all the instructions in the repo. I can run slam_toolbox and generate a map but in rviz. However, after launching the nav2 stack, and setting a waypoint in rviz, the robot just starts spinning and I get this output in my terminal: [planner_server-3] [INFO] [1726041059.837395072] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 228 X 285 at 0.050000 m/pix [bt_navigator-5] [INFO] [1726041090.097915329] [bt_navigator]: Begin navigating from current location (-1.19, 0.13) to (-0.57, 0.08) [controller_server-1] [INFO] [1726041090.119311395] [controller_server]: Received a goal, begin computing control effort. [controller_server-1] [WARN] [1726041090.119379408] [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] [1726041091.169673668] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041092.219678067] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041093.219670780] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041094.271476080] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041095.269679048] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041096.319674218] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041097.369673757] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041098.369670088] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1726041099.419681132] [controller_server]: Passing new path to controller. [controller_server-1] [ERROR] [1726041100.119737493] [controller_server]: Failed to make progress [controller_server-1] [WARN] [1726041100.119831207] [controller_server]: [follow_path] [ActionServer] Aborting handle. [controller_server-1] [INFO] [1726041100.138259863] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [controller_server-1] [INFO] [1726041100.139099084] [controller_server]: Received a goal, begin computing control effort. [controller_server-1] [WARN] [1726041100.234222488] [controller_server]: Control loop missed its desired rate of 20.0000Hz [planner_server-3] [ERROR] [1726041100.701640634] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1726041090.097010 but the earliest data is at time 1726041090.747207, when looking up transform from frame [odom] to frame [map] [planner_server-3] [planner_server-3] [WARN] [1726041100.701680023] [planner_server]: Could not transform the start or goal pose in the costmap frame [planner_server-3] [WARN] [1726041100.701716398] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle. [planner_server-3] [INFO] [1726041100.718213496] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [controller_server-1] [INFO] [1726041100.739308276] [controller_server]: Passing new path to controller. [controller_server-1] [ERROR] [1726041100.739474391] [controller_server]: Invalid path, Path is empty. [controller_server-1] [WARN] [1726041100.739515000] [controller_server]: [follow_path] [ActionServer] Aborting handle. [bt_navigator-5] [ERROR] [1726041100.788673259] [bt_navigator_navigate_to_pose_rclcpp_node]: Failed to get result for compute_path_to_pose in node halt! [controller_server-1] [INFO] [1726041100.788923462] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [planner_server-3] [INFO] [1726041100.789555790] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [bt_navigator-5] [WARN] [1726041100.790108806] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded! [planner_server-3] [ERROR] [1726041101.153598378] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1726041090.097010 but the earliest data is at time 1726041091.149766, when looking up transform from frame [odom] to frame [map] [planner_server-3] [planner_server-3] [WARN] [1726041101.153641290] [planner_server]: Could not transform the start or goal pose in the costmap frame [planner_server-3] [WARN] [1726041101.153673540] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle. [planner_server-3] [INFO] [1726041101.168628444] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [planner_server-3] [ERROR] [1726041102.141661091] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1726041090.097010 but the earliest data is at time 1726041092.165796, when looking up transform from frame [odom] to frame [map] [planner_server-3] [planner_server-3] [WARN] [1726041102.141733732] [planner_server]: Could not transform the start or goal pose in the costmap frame [planner_server-3] [WARN] [1726041102.141762539] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle. [behavior_server-4] [INFO] [1726041102.160766023] [behavior_server]: Running spin [behavior_server-4] [INFO] [1726041102.160931650] [behavior_server]: Turning 1.57 for spin behavior. [planner_server-3] [INFO] [1726041109.837430692] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 250 X 305 at 0.050000 m/pix [behavior_server-4] [WARN] [1726041112.161082170] [behavior_server]: Exceeded time allowance before reaching the Spin goal - Exiting Spin [behavior_server-4] [WARN] [1726041112.161126943] [behavior_server]: spin failed [behavior_server-4] [WARN] [1726041112.161153445] [behavior_server]: [spin] [ActionServer] Aborting handle. [behavior_server-4] [INFO] [1726041112.180591351] [behavior_server]: Running wait [planner_server-3] [INFO] [1726041114.837402103] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 269 X 328 at 0.050000 m/pix [behavior_server-4] [INFO] [1726041117.180781628] [behavior_server]: wait completed successfully [planner_server-3] [ERROR] [1726041117.516774487] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1726041090.097010 but the earliest data is at time 1726041107.509879, when looking up transform from frame [odom] to frame [map] [planner_server-3] [planner_server-3] [WARN] [1726041117.516811434] [planner_server]: Could not transform the start or goal pose in the costmap frame [planner_server-3] [WARN] [1726041117.516844368] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle. [planner_server-3] [INFO] [1726041117.530308937] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [planner_server-3] [ERROR] [1726041118.143420117] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1726041090.097010 but the earliest data is at time 1726041108.220414, when looking up transform from frame [odom] to frame [map] [planner_server-3] [planner_server-3] [WARN] [1726041118.143456826] [planner_server]: Could not transform the start or goal pose in the costmap frame [planner_server-3] [WARN] [1726041118.143484774] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle. [behavior_server-4] [INFO] [1726041118.160676565] [behavior_server]: Running backup

I also notice that when I echo the /plan topic the header has no time and no frame_id as seen here:

From, Brandon

abizovnuralem commented 2 months ago

Hello! I can suggest debugging ros2 topics that are publishing cmd commands to the dog, about time we have an open issue https://github.com/abizovnuralem/go2_omniverse/issues/19 I will be happy for your pr!

brandon-lawrence96 commented 2 months ago

Hi. Thank you for your swift reply. Could you elaborate more on what you mean by debugging ros2 topics that are publishing cmd commands to the dog.

Also, do you suggest that I do what [richard98hess444] suggested?

And should I set use_sim_time to true or false for my ros2 nodes?

abizovnuralem commented 2 months ago

It would be best if you put true for use_sim_time I guess, also yeah, you can try richard98hess444 suggestion. About ros2 topic debug just use rqt_graph and then ros2 topic echo

abizovnuralem commented 3 weeks ago

If you still have an issue just reopen it, thanks!