Open NamTruongTran0 opened 10 months ago
Hello,
today we updated the repository to the Humble distro.
Anyway, I can tell that I'm working with the previous Foxy version in my laptop without any problem. (And probably I will create a branch for maintaining the Foxy version).
To help you I would need more info, I do not watch anything helpful in the video, and your neuronbot_params.yaml seems to be ok.
Some things to check:
Hey noeperez,
thank you so much for your fast answer i really appreciate it.
Check if the plugin is properly loaded when you launch the navigation (no errors or warnings printed in the terminal):
[INFO] [launch]: All log files can be found below /home/nartmangnourt/.ros/log/2023-08-23-17-36-40-907166-nartmangnourt-1781269
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_server-1]: process started with pid [1781271]
[INFO] [amcl-2]: process started with pid [1781273]
[INFO] [lifecycle_manager-3]: process started with pid [1781275]
[INFO] [controller_server-4]: process started with pid [1781277]
[INFO] [planner_server-5]: process started with pid [1781279]
[INFO] [recoveries_server-6]: process started with pid [1781281]
[INFO] [bt_navigator-7]: process started with pid [1781283]
[INFO] [waypoint_follower-8]: process started with pid [1781285]
[INFO] [lifecycle_manager-9]: process started with pid [1781287]
[controller_server-4] 1692805001.421423 [0] controller: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[lifecycle_manager-3] 1692805001.421668 [0] lifecycle_: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[amcl-2] 1692805001.423996 [0] amcl: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[waypoint_follower-8] 1692805001.424964 [0] waypoint_f: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[lifecycle_manager-9] 1692805001.426446 [0] lifecycle_: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[lifecycle_manager-3] [INFO] [1692805001.426708006] [lifecycle_manager_localization]: Creating
[planner_server-5] 1692805001.427194 [0] planner_se: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[map_server-1] 1692805001.430119 [0] map_server: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[lifecycle_manager-3] [INFO] [1692805001.430873180] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[waypoint_follower-8] [INFO] [1692805001.431652602] [waypoint_follower]:
[waypoint_follower-8] waypoint_follower lifecycle node launched.
[waypoint_follower-8] Waiting on external lifecycle transitions to activate
[waypoint_follower-8] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-8] [INFO] [1692805001.431748412] [waypoint_follower]: Creating
[lifecycle_manager-3] [INFO] [1692805001.431828183] [lifecycle_manager_localization]: Starting managed nodes bringup...
[lifecycle_manager-3] [INFO] [1692805001.431855613] [lifecycle_manager_localization]: Configuring map_server
[lifecycle_manager-9] [INFO] [1692805001.432603165] [lifecycle_manager_navigation]: Creating
[bt_navigator-7] 1692805001.433163 [0] bt_navigat: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[recoveries_server-6] 1692805001.434024 [0] recoveries: using network interface enp34s0 (udp/192.168.178.46) selected arbitrarily from: enp34s0, docker0
[planner_server-5] [INFO] [1692805001.436893519] [planner_server]:
[planner_server-5] planner_server lifecycle node launched.
[planner_server-5] Waiting on external lifecycle transitions to activate
[planner_server-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-9] [INFO] [1692805001.439313027] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-5] [INFO] [1692805001.441128003] [planner_server]: Creating
[map_server-1] [INFO] [1692805001.441944656] [map_server]:
[map_server-1] map_server lifecycle node launched.
[map_server-1] Waiting on external lifecycle transitions to activate
[map_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-1] [INFO] [1692805001.442042536] [map_server]: Creating
[amcl-2] [INFO] [1692805001.445981519] [amcl]:
[amcl-2] amcl lifecycle node launched.
[amcl-2] Waiting on external lifecycle transitions to activate
[lifecycle_manager-9] [INFO] [1692805001.446163860] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-9] [INFO] [1692805001.446207670] [lifecycle_manager_navigation]: Configuring controller_server
[amcl-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-2] [INFO] [1692805001.448218906] [amcl]: Creating
[recoveries_server-6] [INFO] [1692805001.449705741] [recoveries_server]:
[recoveries_server-6] recoveries_server lifecycle node launched.
[recoveries_server-6] Waiting on external lifecycle transitions to activate
[recoveries_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-7] [INFO] [1692805001.453992686] [bt_navigator]:
[bt_navigator-7] bt_navigator lifecycle node launched.
[bt_navigator-7] Waiting on external lifecycle transitions to activate
[bt_navigator-7] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-7] [INFO] [1692805001.456455453] [bt_navigator]: Creating
[controller_server-4] [INFO] [1692805001.461028849] [controller_server]:
[controller_server-4] controller_server lifecycle node launched.
[controller_server-4] Waiting on external lifecycle transitions to activate
[controller_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-1] [INFO] [1692805001.465711494] [map_server]: Configuring
[map_server-1] [INFO] [map_io]: Loading yaml file: /home/nartmangnourt/follower_ws/install/arena_nav2_bringup/share/arena_nav2_bringup/maps/mememan.yaml
[map_server-1] [DEBUG] [map_io]: resolution: 0.05
[map_server-1] [DEBUG] [map_io]: origin[0]: -12.2
[map_server-1] [DEBUG] [map_io]: origin[1]: -13.8
[map_server-1] [DEBUG] [map_io]: origin[2]: 0
[map_server-1] [DEBUG] [map_io]: free_thresh: 0.196
[map_server-1] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-1] [DEBUG] [map_io]: mode: trinary
[map_server-1] [DEBUG] [map_io]: negate: 0
[map_server-1] [INFO] [map_io]: Loading image_file: /home/nartmangnourt/follower_ws/install/arena_nav2_bringup/share/arena_nav2_bringup/maps/mememan.pgm
[controller_server-4] [INFO] [1692805001.471895714] [controller_server]: Creating controller server
[planner_server-5] [INFO] [1692805001.473736920] [global_costmap.global_costmap]:
[planner_server-5] global_costmap lifecycle node launched.
[planner_server-5] Waiting on external lifecycle transitions to activate
[planner_server-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-5] [INFO] [1692805001.476614070] [global_costmap.global_costmap]: Creating Costmap
[controller_server-4] [INFO] [1692805001.483099751] [local_costmap.local_costmap]:
[controller_server-4] local_costmap lifecycle node launched.
[controller_server-4] Waiting on external lifecycle transitions to activate
[controller_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-4] [INFO] [1692805001.485391569] [local_costmap.local_costmap]: Creating Costmap
[controller_server-4] [INFO] [1692805001.498228200] [controller_server]: Configuring controller interface
[controller_server-4] [INFO] [1692805001.498573622] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-4] [INFO] [1692805001.498614242] [local_costmap.local_costmap]: Configuring
[controller_server-4] [INFO] [1692805001.503335197] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-4] [INFO] [1692805001.509017536] [local_costmap.local_costmap]: Subscribed to Topics: scan
[map_server-1] [DEBUG] [map_io]: Read map /home/nartmangnourt/follower_ws/install/arena_nav2_bringup/share/arena_nav2_bringup/maps/mememan.pgm: 544 X 512 map @ 0.05 m/cell
[controller_server-4] [INFO] [1692805001.513151540] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-4] [INFO] [1692805001.513187090] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-4] [INFO] [1692805001.515052356] [local_costmap.local_costmap]: Subscribed to Topics: pointcloud
[lifecycle_manager-3] [INFO] [1692805001.518050696] [lifecycle_manager_localization]: Configuring amcl
[amcl-2] [INFO] [1692805001.518575648] [amcl]: Configuring
[amcl-2] [INFO] [1692805001.518706908] [amcl]: initTransforms
[controller_server-4] [INFO] [1692805001.522897732] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-4] [INFO] [1692805001.522934572] [local_costmap.local_costmap]: Using plugin "social_layer"
[controller_server-4] [INFO] [1692805001.525747061] [local_costmap.local_costmap]: SocialLayer: subscribed to topic /people
[amcl-2] [INFO] [1692805001.527559757] [amcl]: initPubSub
[controller_server-4] [INFO] [1692805001.528910712] [local_costmap.local_costmap]: Initialized plugin "social_layer"
[amcl-2] [INFO] [1692805001.532394053] [amcl]: Subscribed to map topic.
[controller_server-4] [INFO] [1692805001.534160459] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-4] [INFO] [1692805001.535712804] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[lifecycle_manager-3] [INFO] [1692805001.536861438] [lifecycle_manager_localization]: Activating map_server
[map_server-1] [INFO] [1692805001.537096889] [map_server]: Activating
[lifecycle_manager-3] [INFO] [1692805001.538291803] [lifecycle_manager_localization]: Activating amcl
[amcl-2] [INFO] [1692805001.538305733] [amcl]: Received a 544 X 512 map @ 0.050 m/pix
[controller_server-4] [INFO] [1692805001.539806608] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[amcl-2] [INFO] [1692805001.541037652] [amcl]: Activating
[amcl-2] [WARN] [1692805001.541072242] [amcl]: Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, will be published as nav2_msgs/ParticleCloud in the future
[amcl-2] [INFO] [1692805001.541093872] [amcl]: initialPoseReceived
[amcl-2] [INFO] [1692805001.541314162] [amcl]: Setting pose (1692805001.541314): 0.000 0.000 0.000
[controller_server-4] [INFO] [1692805001.541907114] [controller_server]: Setting transform_tolerance to 0.200000
[lifecycle_manager-3] [INFO] [1692805001.543385719] [lifecycle_manager_localization]: Managed nodes are active
[controller_server-4] [INFO] [1692805001.555914211] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-4] [INFO] [1692805001.557034014] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.557277955] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-4] [INFO] [1692805001.558280178] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.558542159] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-4] [INFO] [1692805001.559142581] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.559384852] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-4] [INFO] [1692805001.560098574] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.560333345] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-4] [INFO] [1692805001.561015107] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.561253358] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-4] [INFO] [1692805001.561680550] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.561893550] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-4] [INFO] [1692805001.562291292] [controller_server]: Critic plugin initialized
[controller_server-4] [INFO] [1692805001.562315682] [controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-9] [INFO] [1692805001.565828873] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-5] [INFO] [1692805001.566035884] [planner_server]: Configuring
[planner_server-5] [INFO] [1692805001.566078464] [global_costmap.global_costmap]: Configuring
[planner_server-5] [INFO] [1692805001.569566555] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-5] [INFO] [1692805001.574320511] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-5] [INFO] [1692805001.575022563] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-5] [INFO] [1692805001.575047733] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-5] [INFO] [1692805001.575993036] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-5] [INFO] [1692805001.579685779] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-5] [INFO] [1692805001.579720819] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-5] [INFO] [1692805001.580694122] [global_costmap.global_costmap]: Subscribed to Topics: pointcloud
[planner_server-5] [INFO] [1692805001.585528308] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-5] [INFO] [1692805001.585562318] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-5] [INFO] [1692805001.586749812] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-5] [INFO] [1692805001.587075423] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 544 X 512 at 0.050000 m/pix
[planner_server-5] [INFO] [1692805001.591520957] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-5] [INFO] [1692805001.591557657] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-5] [INFO] [1692805001.594335067] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-9] [INFO] [1692805001.597012055] [lifecycle_manager_navigation]: Configuring recoveries_server
[recoveries_server-6] [INFO] [1692805001.597249546] [recoveries_server]: Configuring
[recoveries_server-6] [INFO] [1692805001.603601607] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-6] [INFO] [1692805001.605135812] [recoveries_server]: Configuring spin
[recoveries_server-6] [INFO] [1692805001.609405276] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-6] [INFO] [1692805001.610559100] [recoveries_server]: Configuring backup
[recoveries_server-6] [INFO] [1692805001.613119888] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-6] [INFO] [1692805001.614112471] [recoveries_server]: Configuring wait
[lifecycle_manager-9] [INFO] [1692805001.616844141] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-7] [INFO] [1692805001.617027291] [bt_navigator]: Configuring
[bt_navigator-7] [INFO] [1692805001.641112280] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-7] [INFO] [1692805001.641313291] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-7] [INFO] [1692805001.643113187] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-7] [INFO] [1692805001.643248017] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[lifecycle_manager-9] [INFO] [1692805001.644764882] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-8] [INFO] [1692805001.645039723] [waypoint_follower]: Configuring
[lifecycle_manager-9] [INFO] [1692805001.653683801] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-4] [INFO] [1692805001.653885972] [controller_server]: Activating
[controller_server-4] [INFO] [1692805001.653933962] [local_costmap.local_costmap]: Activating
[controller_server-4] [INFO] [1692805001.653955832] [local_costmap.local_costmap]: Checking transform
[controller_server-4] [INFO] [1692805001.654077133] [local_costmap.local_costmap]: start
[lifecycle_manager-9] [INFO] [1692805001.655242587] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-5] [INFO] [1692805001.655459977] [planner_server]: Activating
[planner_server-5] [INFO] [1692805001.655511578] [global_costmap.global_costmap]: Activating
[planner_server-5] [INFO] [1692805001.655529118] [global_costmap.global_costmap]: Checking transform
[planner_server-5] [INFO] [1692805001.655576178] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.
[amcl-2] [INFO] [1692805001.691850637] [amcl]: createLaserObject
[planner_server-5] [INFO] [1692805002.155691821] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 163.166000 but the earliest data is at time 163.211000, when looking up transform from frame [base_footprint] to frame [map]
[planner_server-5] [INFO] [1692805002.655728626] [global_costmap.global_costmap]: start
[planner_server-5] [INFO] [1692805002.707280645] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-9] [INFO] [1692805002.707929967] [lifecycle_manager_navigation]: Activating recoveries_server
[recoveries_server-6] [INFO] [1692805002.708195098] [recoveries_server]: Activating
[recoveries_server-6] [INFO] [1692805002.708248648] [recoveries_server]: Activating spin
[recoveries_server-6] [INFO] [1692805002.708273698] [recoveries_server]: Activating backup
[recoveries_server-6] [INFO] [1692805002.708295028] [recoveries_server]: Activating wait
[lifecycle_manager-9] [INFO] [1692805002.708705590] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-7] [INFO] [1692805002.708929950] [bt_navigator]: Activating
[lifecycle_manager-9] [INFO] [1692805002.709400032] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-8] [INFO] [1692805002.709608193] [waypoint_follower]: Activating
[lifecycle_manager-9] [INFO] [1692805002.710058314] [lifecycle_manager_navigation]: Managed nodes are active
Errors or warnings in the terminal:
-->As you can see only this occur to be a problem but its not effect the anvigation. So i guess we can ignore it?:
[planner_server-5] [INFO] [1692805002.155691821] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 163.166000 but the earliest data is at time 163.211000, when looking up transform from frame [base_footprint] to frame [map]
Social navigation plugin is loaded properly?: --> I guess the social layer is loaded properly because there are no errors:
[controller_server-4] [INFO] [1692805001.522934572] [local_costmap.local_costmap]: Using plugin "social_layer"
[controller_server-4] [INFO] [1692805001.525747061] [local_costmap.local_costmap]: SocialLayer: subscribed to topic /people
[controller_server-4] [INFO] [1692805001.528910712] [local_costmap.local_costmap]: Initialized plugin "social_layer"
Check that you are properly publishing the positions and velocities of your moving agents in the topic "/people" using the message people_msgs/msg/People.: --> The command ros2 topic echo /people showing nothing and there are no publisher:
ros2 topic info /people
Type: people_msgs/msg/People
Publisher count: 0
Subscription count: 2
Thank you very much neoperez
Hello,
As you have seen, nobody is publishing in the topic /people, that's the problem. You need to provide the info of the moving agents to the layer. To do it you need to program a node to take your agents data, to fill the people_msgs/People messages and to publish them in the topic /people.
Ok i thought its just plug and play.
Hi again, Sorry, I can't do anything else. You need to understand how you are including and publishing your people in your simulation. Then, reuse than info to publish it in the required format of the layer. That layer can not be plug and play, because the data about the people is not something standard included in the regular nav2 system.
Hey noeperez,
thank you so much. I'm really grateful for your help and your contributions ;)
Yes, both topics contain the relevant information that you need, but first you need to know what type of messages are being published through each topic. Then, you need to check the message type required by the social layer (which is people_msgs/People) and check the data that you need to fill. You can not send the messages of the pedsim_simulator topics directly to the topic /people. You need to send the proper message to the proper topic names. That is ROS basis.
Hey,
first thank you so much for your contributions.
I tried your social navigation layer foxy distro some days ago.
neuronbot_params.yaml file:
Thank you once again for your contribution. I Really appreciate your time and effort :)