Goal not accepted with real robot

[FrGe2016]

Hi great package

The robot is working perfectly when i use the normal navigation stack

I have modified the neonavigation demo.launch file to test it with my linorobot and nothing is planned. Here are the info.

[ERROR] [1639844616.742719628]: Goal [map] pose must be in the map frame [].

But the goal pose in in the map frame

rostopic echo /move_base_simple/goal
header: 
  seq: 0
  stamp: 
    secs: 1639843216
    nsecs: 753899602
  frame_id: **"map"**
pose: 
  position: 
    x: 8.681979179382324
    y: 3.8665976524353027
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: -0.9830096719102385
    w: 0.18355376577702048
---

My launch file for my physical linorobot is : attached physical_demo.launch.txt

[at-wat]

https://github.com/at-wat/neonavigation/blob/e17cf72d4f980ce33f8e5e22c52e3180015e4f65/planner_cspace/src/planner_3d.cpp#L390-L391

[ERROR] [1639844616.742719628]: Goal [map] pose must be in the map frame [].

It means planner_3d hadn't received map yet or had received map with empty frame_id.

[FrGe2016]

But the map is shown in rviz ?

Le sam. 18 déc. 2021, à 18 h 40, Atsushi Watanabe @.***> a écrit :

https://github.com/at-wat/neonavigation/blob/e17cf72d4f980ce33f8e5e22c52e3180015e4f65/planner_cspace/src/planner_3d.cpp#L390-L391

[ERROR] [1639844616.742719628]: Goal [map] pose must be in the map frame [].

It means planner_3d hadn't received map yet or had received map with empty frame_id.

— Reply to this email directly, view it on GitHub https://github.com/at-wat/neonavigation/issues/632#issuecomment-997300260, or unsubscribe https://github.com/notifications/unsubscribe-auth/AEARAMNWCU5FZYBBB2WVKSTURULWRANCNFSM5KKZ5UOA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

You are receiving this because you authored the thread.Message ID: @.***>

[FrGe2016]

Finally i solved it by making changes in the navigate.launch file

1) I have moved the launching of the map_server node before the costmap_3d node. ( this is the main reason why the goal was not in the map frame )

2) I have removed if="$(arg simulate)" in the setting of the footprint parameter.

Thanks for the reply