navigation2无法正常工作

[alpaficia]

您好，我最近在做limo ros2的相关工作，我直接pull了贵公司在dockerhub上的镜像：lagrangeluo/limo_ros2:v1。但是navigation2无法正常工作。首先是建图，readme上写道的build_map_2d包和revo_build_map_2d.launch.py文件并不存在，我在浏览了limo_bringup包后发现了cartographer，它能够正常建图，在建图后，我试着给limo设置了个终点，但是并没有跳出路径规划的行经路线。并且limo也并不移动。此时的rosinfo上写的是：“Message Filter dropping message: frame 'last_frame' at time xxxxxxx for reason 'unkown'.”

于是我观察了下，在启动时rosinfo有一条：'FollowWayPoint action server is not available, is the initial pose set?' 我想着可能是基础定位有问题，我尝试着launch了limo_localization.launch.py ，但它并不能正常工作。请问如何才能正确地使用nav2？

同时，ros2 launch limo_description display_models_diff.launch.py 这条仿真也无法正常工作。gazebo的仿真似乎也有些问题，我无法看到正常的limo小车，虽然它能成功launch。

谢谢你们的帮助！

[brianlmerritt]

Just checking - real robot or simulation?

In any case if you are using rviz2, are you placing the robot somewhere in the room and setting the initial location in rviz2?

See also https://www.youtube.com/watch?v=IrJmuow1r7g

[alpaficia]

It is in the real robot. Yes, I put it on the ground of the room. I launched limo_start, then cartographer and navigation2. So, I’m unsure if the init state is well set with this order.

I’ll check the video later, and thank you for your reply!

[brianlmerritt]

Cool - if you put robot on the ground in the room, and with rviz2with nav running, you should see or select the map. It is then easy to select initial position in rviz2 (or you can set a default initial position in software if you always start from the same place) and nav will then follow waypoint instructions from rviz2.