Aborting because a valid plan could not be found. Even after executing all recovery behaviors. Husky was unable to reach its goal. GPS Waypoint unreachable.

nickcharron / waypoint_nav

This package performs outdoor GPS waypoint navigation using move_base, robot_localization, gmapping and others. It can navigate while building a map, avoiding obstacles, and can navigate continuously between each goal.

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Aborting because a valid plan could not be found. Even after executing all recovery behaviors. Husky was unable to reach its goal. GPS Waypoint unreachable. #11

Open amjack0 opened 4 years ago

amjack0 commented 4 years ago

I am using this repository on Ardumower (Ardumower.de).

EKF (Odometry + IMU)

I have used GPS only to get the latitude and longitude. Then GPS is no more in use. so I have waypoints.txt file. Move_base loads the waypoint.txt and also accepting the goal from gps_waypoint but giving the above mentioned error. Robot was keep performing recovery behavior and then aborts the goal.

Can anyone suggest something ? Screenshot from 2019-12-24 02-24-02

Regards, MG

nickcharron commented 3 years ago

If you can't reach your goal, I'd suspect there's something wrong with your map or your localization. I don't think wheel odometry + imu would give you an accurate pose estimate for more than a few dozen meters (they are both prone to drift)