BT_Navigator failing to load Libary when changing Namespace

isiko commented 2 years ago

Bug report

Required Info:

Operating System:
- Docker on Windows, Container running Ubuntu 20.04
ROS2 Version:
- Foxy Binaries
Version or commit hash:
- ros-foxy-navigation2 0.4.7-1focal.20220307.024942
DDS implementation:
- didn't change anything, so probably eProsima’s Fast DDS

Steps to reproduce issue

Launch file (adjust package names, etc.): This is mostly copied from the nav2_bringup package, I just added an XML_File for the BT_Navigator and the namespace

# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from nav2_common.launch import RewrittenYaml

def generate_launch_description():
    # Get the launch directory
    pkg_nav = get_package_share_directory('field_robot_nav')
    pkg_share = get_package_share_directory('field_robot')

    namespace_str = "robot"

    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time')
    autostart = LaunchConfiguration('autostart')
    bt_params_xml = LaunchConfiguration('bt_params')
    params_file = LaunchConfiguration('params_file')
    use_composition = LaunchConfiguration('use_composition')
    container_name = LaunchConfiguration('container_name')

    lifecycle_nodes = ['controller_server',
                       # 'smoother_server',
                       'planner_server',
                       # 'behavior_server',
                           'bt_navigator',
                       'waypoint_follower']

    # Map fully qualified names to relative ones so the node's namespace can be prepended.
    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
    # https://github.com/ros/geometry2/issues/32
    # https://github.com/ros/robot_state_publisher/pull/30
    # TODO(orduno) Substitute with `PushNodeRemapping`
    #              https://github.com/ros2/launch_ros/issues/56
    remappings = [('/tf', 'tf'),
                  ('/tf_static', 'tf_static')]

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {
        'use_sim_time': use_sim_time,
        'autostart': autostart,
        'default_bt_xml_filename': bt_params_xml,
        'default_nav_to_pose_bt_xml': bt_params_xml,
        'default_nav_through_poses_bt_xml': bt_params_xml,
    }

    configured_params = RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites=param_substitutions,
            convert_types=True)

    stdout_linebuf_envvar = SetEnvironmentVariable(
        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')

    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value=namespace_str,
        description='Top-level namespace')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true')

    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(pkg_nav, 'params', 'nav2_params.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes')

    declare_bt_params_file_cmd = DeclareLaunchArgument(
        'bt_params',
        default_value=os.path.join(pkg_nav, 'params', 'nav2_bt_config.xml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes')

    declare_autostart_cmd = DeclareLaunchArgument(
        'autostart', default_value='true',
        description='Automatically startup the nav2 stack')

    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition', default_value='False',
        description='Use composed bringup if True')

    declare_container_name_cmd = DeclareLaunchArgument(
        'container_name', default_value='nav2_container',
        description='the name of conatiner that nodes will load in if use composition')

    load_nodes = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            Node(
                package='nav2_controller',
                executable='controller_server',
                output='screen',
                parameters=[configured_params],
                remappings=remappings),
            # Node(
            #     package='nav2_smoother',
            #     executable='smoother_server',
            #     name='smoother_server',
            #     output='screen',
            #     parameters=[configured_params],
            #     remappings=remappings),
            Node(
                package='nav2_planner',
                executable='planner_server',
                name='planner_server',
                output='screen',
                parameters=[configured_params],
                remappings=remappings),
            # Node(
            #     package='nav2_behaviors',
            #     executable='behavior_server',
            #     name='behavior_server',
            #     output='screen',
            #     parameters=[configured_params],
            #     remappings=remappings),
            Node(
                package='nav2_bt_navigator',
                executable='bt_navigator',
                name='bt_navigator',
                output='screen',
                parameters=[configured_params],
                remappings=remappings),
            Node(
                package='nav2_waypoint_follower',
                executable='waypoint_follower',
                name='waypoint_follower',
                output='screen',
                parameters=[configured_params],
                remappings=remappings),
            Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_navigation',
                output='screen',
                parameters=[{'use_sim_time': use_sim_time},
                            {'autostart': autostart},
                            {'node_names': lifecycle_nodes}]),
        ]
    )

    load_composable_nodes = LoadComposableNodes(
        condition=IfCondition(use_composition),
        target_container=container_name,
        composable_node_descriptions=[
            ComposableNode(
                package='nav2_controller',
                plugin='nav2_controller::ControllerServer',
                name='controller_server',
                parameters=[configured_params],
                remappings=remappings),
            # ComposableNode(
            #     package='nav2_smoother',
            #     plugin='nav2_smoother::SmootherServer',
            #     name='smoother_server',
            #     parameters=[configured_params],
            #     remappings=remappings),
            ComposableNode(
                package='nav2_planner',
                plugin='nav2_planner::PlannerServer',
                name='planner_server',
                parameters=[configured_params],
                remappings=remappings),
            # ComposableNode(
            #     package='nav2_behaviors',
            #     plugin='behavior_server::BehaviorServer',
            #     name='behavior_server',
            #     parameters=[configured_params],
            #     remappings=remappings),
            ComposableNode(
                package='nav2_bt_navigator',
                plugin='nav2_bt_navigator::BtNavigator',
                name='bt_navigator',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_waypoint_follower',
                plugin='nav2_waypoint_follower::WaypointFollower',
                name='waypoint_follower',
                parameters=[configured_params],
                remappings=remappings),
            ComposableNode(
                package='nav2_lifecycle_manager',
                plugin='nav2_lifecycle_manager::LifecycleManager',
                name='lifecycle_manager_navigation',
                parameters=[{'use_sim_time': use_sim_time,
                             'autostart': autostart,
                             'node_names': lifecycle_nodes}]),
        ],
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)

    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_bt_params_file_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_container_name_cmd)

    # Add the actions to launch all of the navigation nodes
    ld.add_action(load_nodes)
    ld.add_action(load_composable_nodes)

    return ld

Params File:

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: True

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odometry/filtered
    bt_loop_duration: 10
    default_server_timeout: 20
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    # The following Values should be overwritten by the Launchfile.
    default_bt_xml_filename:          /field_robot/dev_ws/src/field_robot/config/nav2_bt_config.xml
    default_nav_to_pose_bt_xml:       /field_robot/dev_ws/src/field_robot/config/nav2_bt_config.xml
    default_nav_through_poses_bt_xml: /field_robot/dev_ws/src/field_robot/config/nav2_bt_config.xml
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    # - nav2_compute_path_through_poses_action_bt_node
    # - nav2_smooth_path_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    # - nav2_globally_updated_goal_condition_bt_node
    # - nav2_is_path_valid_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    # - nav2_path_expiring_timer_condition
    - nav2_distance_traveled_condition_bt_node
    # - nav2_single_trigger_bt_node
    - nav2_is_battery_low_condition_bt_node
    # - nav2_navigate_through_poses_action_bt_node
    - nav2_navigate_to_pose_action_bt_node
    # - nav2_remove_passed_goals_action_bt_node
    # - nav2_planner_selector_bt_node
    # - nav2_controller_selector_bt_node
    # - nav2_goal_checker_selector_bt_node
    # - nav2_controller_cancel_bt_node
    # - nav2_path_longer_on_approach_bt_node
    # - nav2_wait_cancel_bt_node
    # - nav2_spin_cancel_bt_node
    # - nav2_back_up_cancel_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.26
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.2
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: True
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      robot_radius: 0.2
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: True
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

map_server:
  ros__parameters:
    use_sim_time: True
    yaml_filename: "turtlebot3_world.yaml"

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

smoother_server:
  ros__parameters:
    use_sim_time: True
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    wait:
      plugin: "nav2_behaviors/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: True

waypoint_follower:
  ros__parameters:
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

Behavior Tree

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <PipelineSequence name="NavigateWithReplanning">
      <DistanceController distance="1.0">
        <ComputePathToPose goal="{goal}" path="{path}"/>
      </DistanceController>
      <FollowPath path="{path}"/>
    </PipelineSequence>
  </BehaviorTree>
</root>

Expected behavior

Nav2 Stack running in the /robot namespace

Actual behavior

Nav2 Crashing with the following Error:

[bt_navigator-3] [INFO] [1650307748.833286215] [bt_navigator]: Configuring
[bt_navigator-3] [ERROR] [1650307749.025385302] []: Caught exception in callback for transition 10
[bt_navigator-3] [ERROR] [1650307749.025654106] []: Original error: Could not load library: libnav2_change_goal_node_bt_node.so: cannot open shared object file: No such file or directory
[bt_navigator-3] [WARN] [1650307749.025741322] []: Error occurred while doing error handling.
[bt_navigator-3] [FATAL] [1650307749.025977693] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-5] [ERROR] [1650307749.032132248] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-5] [ERROR] [1650307749.032331849] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

Additional information

I tried asking on answers.ros.org, but my question is pending moderation for some time now without anything happening... Also, this might be related to #2143

SteveMacenski commented 2 years ago

Please ask on ROS Answers, that is the correct place.

SteveMacenski commented 2 years ago

But definitely remove libnav2_change_goal_node_bt_node from your param file, the BT nav is stopping because that doesn't exist in Foxy. You must use the appropriate parameter files / libraries for your distribution.

isiko commented 2 years ago

But definitely remove libnav2_change_goal_node_bt_node from your param file, the BT nav is stopping because that doesn't exist in Foxy. You must use the appropriate parameter files / libraries for your distribution.

That's why I also posted here: That library is no where in my params, the file doesn't even contain the string 'change'

xinxing-max commented 2 years ago

@SteveMacenski same problem for me. I didn't add this parameter libnav2_change_goal_node_bt_node in the param file at all, but still the error was displayed. And it only appeared when I added the namespace. Since this problem is not accidental, and it is not like you said, just remove libnav2_change_goal_node_bt_node. But the problem is, there is no such parameter in the param file, why does this error occur?

@isiko Have you made any progress? I'm working on a multi-robot project recently and I'm also having the same problem.

BATAxjh commented 2 years ago

[lifecycle_manager-13] [INFO] [1662003008.932584225] [lifecycle_manager_navigation]: Configuring bt_navigator

[bt_navigator-11] [ERROR] [1662003009.187668684] []: Caught exception in callback for transition 10 [bt_navigator-11] [ERROR] [1662003009.190816521] []: Original error: Could not load library: libnav2_transform_availablemap_condition_bt_node.so: cannot open shared object file: No such file or directory [bt_navigator-11] [WARN] [1662003009.194177208] []: Error occurred while doing error handling. [bt_navigator-11] [FATAL] [1662003009.197183521] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented [lifecycle_manager-13] [ERROR] [1662003009.202547305] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator [lifecycle_manager-13] [ERROR] [1662003009.202713494] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

BATAxjh commented 2 years ago

in params_file “nav2_transform_availablemap_condition_bt_node” change “ nav2_transform_available_condition_bt_node” ok!!

nav2_change_goal_node_bt_node change to "nav2_goal_updater_node_bt_node"

maybe The versions are different

JACOBIN-SCTCS commented 1 year ago

@SteveMacenski I am facing the same error which @isiko has pointed out. I am using Ubuntu 20.04 and ros2 foxy. Is there any workaround, it would be helpful. Else if you give a big picture idea of how this happened would also be helpful.

JACOBIN-SCTCS commented 1 year ago

@SteveMacenski same problem for me. I didn't add this parameter libnav2_change_goal_node_bt_node in the param file at all, but still the error was displayed. And it only appeared when I added the namespace. Since this problem is not accidental, and it is not like you said, just remove libnav2_change_goal_node_bt_node. But the problem is, there is no such parameter in the param file, why does this error occur?

@isiko Have you made any progress? I'm working on a multi-robot project recently and I'm also having the same problem.

@xinxing-max could you solve this issue?

xinxing-max commented 1 year ago

@JACOBIN-SCTCS yes, I have solved this issue. I did not use the package navigation2 from deb source any more. I have downloaded the package in my workspace and changed the source code (just check the lib list in the source code). I found the source code of Nav2 between deb source and official code in github were different. You can compare them by yourself. But I use Nav2 galactic now, not foxy anymore. The issues occurred using the global path planner with Nav2 foxy, e.g. global path through the wall :).

JACOBIN-SCTCS commented 1 year ago

@JACOBIN-SCTCS yes, I have solved this issue. I did not use the package navigation2 from deb source any more. I have downloaded the package in my workspace and changed the source code (just check the lib list in the source code). I found the source code of Nav2 between deb source and official code in github were different. You can compare them by yourself. But I use Nav2 galactic now, not foxy anymore. The issues occurred using the global path planner with Nav2 foxy, e.g. global path through the wall :).

I will try the suggestions you made. Thank you once again.