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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
528 stars 147 forks source link

Unable to complete the test launch #9

Closed offtaste closed 3 years ago

offtaste commented 3 years ago

Hello together,

first let me say this is my first issue report and ask for help. I really tried to look for a solution, but was unable to fix it with other advices.

I wanted to run the navigation example with

roslaunch full_coverage_path_planner test_full_coverage_path_planner.launch

but I always get an error which tells me that The last action goal to "exe_path" has been REJECTED

Here is my whole console

:~/catkin_ws$ roslaunch full_coverage_path_planner test_full_coverage_path_planner.launch
... logging to /home/user/.ros/log/b38521c2-5e6a-11eb-8146-5076af8bd684/roslaunch-LENOVO-27392.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://LENOVO:38431/

SUMMARY
========

PARAMETERS
 * /controller/Kd_lat: 0.3
 * /controller/Kd_long: 0.5
 * /controller/Ki_lat: 0.0
 * /controller/Ki_long: 0.0
 * /controller/Kp_lat: 4.0
 * /controller/Kp_long: 2.0
 * /controller/controller_debug_enabled: True
 * /controller/l: 0.5
 * /controller/track_base_link: True
 * /coverage_progress/coverage_radius: 0.75
 * /coverage_progress/map_frame: /coverage_map
 * /coverage_progress/target_area/x: 10
 * /coverage_progress/target_area/y: 10
 * /grid_server/frame_id: /map
 * /interpolator/target_x_vel: 0.5
 * /interpolator/target_yaw_vel: 0.4
 * /mobile_robot_simulator/odometry_topic: /odom
 * /mobile_robot_simulator/publish_map_transform: True
 * /mobile_robot_simulator/publish_rate: 10.0
 * /mobile_robot_simulator/velocity_topic: /move_base/cmd_vel
 * /move_base_flex/SpiralSTC/robot_radius: 0.8
 * /move_base_flex/SpiralSTC/tool_radius: 0.75
 * /move_base_flex/global_costmap/robot_radius: 0.8
 * /move_base_flex/local_costmap/global_frame: odom
 * /move_base_flex/local_costmap/height: 5.0
 * /move_base_flex/local_costmap/publish_frequency: 5.0
 * /move_base_flex/local_costmap/resolution: 0.05
 * /move_base_flex/local_costmap/robot_base_frame: base_link
 * /move_base_flex/local_costmap/rolling_window: True
 * /move_base_flex/local_costmap/static_map: True
 * /move_base_flex/local_costmap/update_frequency: 10.0
 * /move_base_flex/local_costmap/width: 5.0
 * /move_base_flex/planners: [{'type': 'full_c...
 * /move_base_flex/tf_timeout: 1.5
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /
    controller (tracking_pid/controller)
    coverage_progress (full_coverage_path_planner/coverage_progress)
    grid_server (map_server/map_server)
    interpolator (tracking_pid/path_interpolator)
    map_to_coveragemap (tf/static_transform_publisher)
    mobile_robot_simulator (mobile_robot_simulator/mobile_robot_simulator_node)
    move_base (mbf_costmap_nav/move_base_legacy_relay.py)
    move_base_flex (mbf_costmap_nav/mbf_costmap_nav)
    publish_simple_goal (rostopic/rostopic)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[move_base_flex-1]: started with pid [27407]
process[move_base-2]: started with pid [27408]
process[mobile_robot_simulator-3]: started with pid [27409]
process[grid_server-4]: started with pid [27415]
process[interpolator-5]: started with pid [27422]
process[controller-6]: started with pid [27424]
process[map_to_coveragemap-7]: started with pid [27431]
process[coverage_progress-8]: started with pid [27437]
process[publish_simple_goal-9]: started with pid [27443]
process[rviz-10]: started with pid [27446]
[ INFO] [1611512931.559051715]: CONTROLLER PARAMETERS
[ INFO] [1611512931.559747769]: -----------------------------------------
[ INFO] [1611512931.559768614]: Controller enabled: 1
[ INFO] [1611512931.559784579]: Controller DEBUG enabled: 1
[ INFO] [1611512931.559798150]: Distance L: 0.500000
[ INFO] [1611512931.559809217]: Feedback (long, lat, ang): (1, 1, 1)
[ INFO] [1611512931.559819455]: Feedforward (long, lat, ang): (1, 1, 0)
[ INFO] [1611512931.559830268]: Longitudinal gains: (Kp: 2.000000, Ki, 0.000000, Kd, 0.500000)
[ INFO] [1611512931.559843832]: Lateral gains: (Kp: 4.000000, Ki, 0.000000, Kd, 0.300000)
[ INFO] [1611512931.559854787]: Angular gains: (Kp: 1.000000, Ki, 0.000000, Kd, 0.300000)
[ INFO] [1611512931.559864948]: Robot type (holonomic): (0)
[ INFO] [1611512931.559875128]: Track base link: (1)
[ INFO] [1611512931.559884994]: LPF cutoff frequency: 1/4 of sampling rate
[ INFO] [1611512931.559897434]: Integral-windup limit: 1000.000000
[ INFO] [1611512931.559911008]: Saturation limits xy: 10.000000/-10.000000
[ INFO] [1611512931.559921847]: Saturation limits ang: 10.000000/-10.000000
[ INFO] [1611512931.559932493]: map frame: 
[ INFO] [1611512931.559945334]: base_link frame: 
[ INFO] [1611512931.559955573]: -----------------------------------------
[ INFO] [1611512931.610990041]: Initialized mobile robot simulator
[ INFO] [1611512931.611828495]: --- Starting MobileRobot simulator
[ INFO] [1611512931.711999915]: Started mobile robot simulator update loop, listening on cmd_vel topic
[ WARN] [1611512931.814464843]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ INFO] [1611512931.851378176]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1611512931.856672013]:     Subscribed to Topics: 
[ INFO] [1611512931.866418209]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1611512931.872480311]: Transform between map and base_link found
[ INFO] [1611512931.935174144]: The plugin with the type "full_coverage_path_planner/SpiralSTC" has been loaded successfully under the name "SpiralSTC".
[ INFO] [1611512931.939925375]: The plugin with the type "navfn/NavfnROS" has been loaded successfully under the name "navfn/NavfnROS".
[ WARN] [1611512931.940373403]: No controllers plugins configured! - Use the param "controllers", which must be a list of tuples with a name and a type.
[ WARN] [1611512931.940725386]: No recovery_behaviors plugins configured! - Use the param "recovery_behaviors", which must be a list of tuples with a name and a type.
[ WARN] [1611512933.169893385]: No plugins loaded at all!
[ERROR] [1611512933.170474303]: The last action goal to "exe_path" has been REJECTED

First, it had an error woth the navfn Plugin, but I was able to fix it. So, if I try to set a 2D Nav goal like advised in the manual, I get this:

[ WARN] [1611525048.815634814]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal. [ WARN] [1611525049.815711845]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal. [ WARN] [1611525050.815746809]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal. [ WARN] [1611525051.815781184]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal. [ WARN] [1611525052.815819817]: The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal. [ INFO] [1611525053.815602226]: Planning patience (5s) has been exceeded [ WARN] [1611525053.815921465]: No Recovery Behaviors loaded!

So, does anyone have an idea how to fix the Error? I found this issue on move base issues, but the additions in the planner or connectors yaml didn't fix it.

I am really willed to try every solution you have and hope for help. Please tell me if you need more information, but I think I have everything as described in the manual. Thanks a lot!

Timple commented 3 years ago

I can confirm the same behavior. So that would be a bug on our side!

Timple commented 3 years ago

Should work now!