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[ERROR] [1711077612.076564900] [controller_server]: Failed to make progress #13

Closed ayakasakurai0213 closed 3 months ago

ayakasakurai0213 commented 3 months ago

I am running actual robot of HSR and trying navigation with ROS2 foxy.

I have ran navigation by the following documentation: hsrb_rosnav_config

I run the following command:

ros2 launch hsrb_rosnav_config navigation_launch.py map:=/full/path/to/map.yaml

And when I specify 2D Pose Estimate, I can only do path planning.

I get an the following error on the command line:

[controller_server-1] [INFO] [1711077602.065240930] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [controller_server-1] [INFO] [1711077602.076080318] [controller_server]: Received a goal, begin computing control effort. [controller_server-1] [INFO] [1711077602.426512054] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077603.426505040] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077604.476500892] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077605.526497582] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077606.576501000] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077607.576501680] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077608.626503445] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077609.676499406] [controller_server]: Passing new path to controller. [controller_server-1] [INFO] [1711077610.676499838] [controller_server]: Passing new path to controller. [planner_server-2] [WARN] [1711077611.494322610] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [controller_server-1] [INFO] [1711077611.726506327] [controller_server]: Passing new path to controller. [controller_server-1] [ERROR] [1711077612.076564900] [controller_server]: Failed to make progress [controller_server-1] [WARN] [1711077612.076722094] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle. [controller_server-1] [INFO] [1711077612.095229289] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [planner_server-2] [INFO] [1711077612.095798248] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [recoveries_server-3] [INFO] [1711077612.106158884] [recoveries_server]: Attempting spin [recoveries_server-3] [INFO] [1711077612.108650991] [recoveries_server]: Turning 1.57 for spin recovery. [recoveries_server-3] [INFO] [1711077613.109627457] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077614.109668319] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077615.109801359] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077616.109621440] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077617.109543970] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077618.109549229] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077619.109580373] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077620.109509738] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077621.109508454] [recoveries_server]: spin running... [planner_server-2] [WARN] [1711077621.494320460] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [recoveries_server-3] [INFO] [1711077622.109489899] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077623.109482526] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077624.109472705] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077625.109478057] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077626.109443989] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077627.109607907] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077628.109431126] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077629.109421072] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077630.109395034] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077631.109610792] [recoveries_server]: spin running... [planner_server-2] [WARN] [1711077631.494403856] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [recoveries_server-3] [INFO] [1711077632.109605338] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077633.109395948] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077634.109377382] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077635.109327999] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077636.109466975] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077637.109356273] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077638.109911714] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077639.109350267] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077640.109315493] [recoveries_server]: spin running... [recoveries_server-3] [INFO] [1711077641.109405172] [recoveries_server]: spin running... ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[bt_navigator-4] [ERROR] [1711077657.418931201] [bt_navigator]: Action server failed while executing action callback: "Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/guard_condition.c:67" [bt_navigator-4] [WARN] [1711077657.418956192] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

[INFO] [recoveries_server-3]: process has finished cleanly [pid 229568] [INFO] [planner_server-2]: process has finished cleanly [pid 229566]

[INFO] [controller_server-1]: process has finished cleanly [pid 229564]

[recoveries_server-3] [WARN] [1711077657.419306881] [recoveries_server]: [spin] [ActionServer] Current goal was not completed successfully. [recoveries_server-3] [WARN] [1711077657.419339355] [recoveries_server]: [spin] [ActionServer] Aborting handle.

[ERROR] [bt_navigator-4]: process has died [pid 229571, exit code -6, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmp27jgxwzu -r /tf:=tf -r /tf_static:=tf_static']. [INFO] [lifecycle_manager-9]: process has finished cleanly [pid 229609] [INFO] [amcl-8]: process has finished cleanly [pid 229606] [INFO] [lifecycle_manager-6]: process has finished cleanly [pid 229595] [INFO] [map_server-7]: process has finished cleanly [pid 229601] [bt_navigator-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [bt_navigator-4] what(): Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/guard_condition.c:67 [INFO] [waypoint_follower-5]: process has finished cleanly [pid 229592]

ayakasakurai0213 commented 3 months ago

I am also getting the error by entering the following command:

ros2 launch hsr_rosnav_config navigation_launch.py

error:

[planner_server-2] [INFO] [1711077573.485657287] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077573.985712650] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [amcl-8] [WARN] [1711077574.169118197] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose... [planner_server-2] [INFO] [1711077574.485710849] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077574.985710376] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077575.485708164] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077575.985716595] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [amcl-8] [WARN] [1711077576.182427348] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose... [planner_server-2] [INFO] [1711077576.485710054] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077576.985713738] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077577.485708613] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077577.985727967] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [amcl-8] [WARN] [1711077578.207094347] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose... [planner_server-2] [INFO] [1711077578.485710750] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077578.985713883] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077579.485707344] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077579.985709379] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [amcl-8] [WARN] [1711077580.223267257] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose... [planner_server-2] [INFO] [1711077580.485709092] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-2] [INFO] [1711077580.985706879] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

[amcl-8] [WARN] [1711077581.275757319] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1711077581.275694 but the latest data is at time 1711077581.263580, when looking up transform from frame [base_footprint] to frame [odom]) [amcl-8] [INFO] [1711077581.275793238] [amcl]: Setting pose (1711077581.275793): -1.271 0.013 -0.038 [planner_server-2] [INFO] [1711077581.485783814] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1711077581.482804 but the earliest data is at time 1711077582.272192, when looking up transform from frame [base_link] to frame [map] [planner_server-2] [INFO] [1711077581.985742185] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1711077581.977884 but the earliest data is at time 1711077582.272192, when looking up transform from frame [base_link] to frame [map]

[planner_server-2] [INFO] [1711077582.540520085] [planner_server]: Activating plugin GridBased of type NavfnPlanner

Is this error also related?