SteveMacenski
commented
2 years ago Oh. Wait. F***. This is the same issue as in https://github.com/ros-planning/navigation2/issues/3014#issuecomment-1158073543 with the local costmap just being empty. Ignore this....
But do note right now that there are issues with Nav2 in 22.04/Rolling/Humble due to issues in Fast-DDS https://github.com/ros2/rmw_fastrtps/issues/613
I don't know what happened, but all the sudden the robots run directly into walls and when the path replans, there's too big of an angle and the robot stops dead in its tracks rotates a bit, then continues and ends up in loops of that 3-4 times in a row.
I'm using just the default parameter we have in the readme file that I've been using when testing the PRs pending, clearly something significant has changed in the last couple of PRs but I don't know what.
I also upgraded to 22.04/Rolling. Note https://github.com/ros-planning/navigation2/issues/3014 but I'm seeing it run straight into static obstacles in the static map that is showing in the costmap fine.