Robot diverge from its navigation graph.

[edcogue]

Bug report

Required information:

• Operating system and version:
  • Ubuntu 20.04
• OpenRMF installation type:
  • Binaries
• OpenRMF version or commit hash
  • First version of working in ROS Galactic
• ROS distribution and version:
  • ROS Galactic
• ROS installation type:
  • From Binaries

Description of the bug

When the adapter is working with any robot it shows an error like this:

The robot has diverged from its navigation graph, currently located at <15.320280, -10.842711, 0.016867> on map [Floor]

Then the robot starts stopping and going to the previous waypoint. I put the correct transformations in config.yaml getting the equivalent coordinate points in traffic editor navgraph and the escenario with a custom simulation.

Steps to reproduce the bug

Launch a reduce version of common.launch Launch custom adapter with python template

[Emima-J]

I have the same problem.

[Yadunund]

Could you describe the problem in greater detail? It's not clear to me whether you're seeing that printout as soon as a robot gets added to the fleet or it happens while moving between waypoints.

[Emima-J]

The error occurs while the robot is moving between the waypoints. When the robot moves between two waypoints, the robot is lost and the error message is displayed. Is there a parameter that can be modified to allow a higher divergence threshold?

[Yadunund]

Hmm it is strange if this happens while the robot is moving between waypoints.

Are you able to share the following files with me: 1) navgraph and or building yaml file + png map used by the robot for navigation, 2) The config.yaml file for the adapter 3) waypoint name where the robot starts 4) waypoint name where the robot is trying to go (or the exact task request you submitted)

[Emima-J]

I have sent you the files by email.

[Yadunund]

Closing since the issue was related to traffic lanes overlapping in space but not actually being connected.