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ROS 2 Navigation Framework and System
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NAV2 General Tutorial Problem on ROS 2 Humble #3982

Closed Cristian-wp closed 10 months ago

Cristian-wp commented 10 months ago

Required Info:

Steps to reproduce issue

Hello I am Trying to follow Nav2 General Tutorial but I am stuck on the 2° and 3° one (same error). I have following (SLAM) Navigating While Mapping tutorial, so I have modify the .../nav2_ws/src/navigation2/nav2_bringup/params/nav2_params.yaml file as you can see below

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: 0.22
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer","stvl_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
      stvl_layer:
        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
        enabled: true
        voxel_decay: 15.
        decay_model: 0
        voxel_size: 0.05
        track_unknown_space: true
        unknown_threshold: 15
        mark_threshold: 0
        update_footprint_enabled: true
        combination_method: 1
        origin_z: 0.0
        publish_voxel_map: true
        transform_tolerance: 0.2
        mapping_mode: false
        map_save_duration: 60.0
        observation_sources: pointcloud
        pointcloud:
          data_type: PointCloud2
          topic: /intel_realsense_r200_depth/points
          marking: true
          clearing: true
          obstacle_range: 3.0
          min_obstacle_height: 0.0
          max_obstacle_height: 2.0
          expected_update_rate: 0.0
          observation_persistence: 0.0
          inf_is_valid: false
          filter: "voxel"
          voxel_min_points: 0
          clear_after_reading: true
          max_z: 7.0
          min_z: 0.1
          vertical_fov_angle: 0.8745
          horizontal_fov_angle: 1.048
          decay_acceleration: 15.0
          model_type: 0
      always_send_full_costmap: True

map_server:
  ros__parameters:
    use_sim_time: True
    # Overridden in launch by the "map" launch configuration or provided default value.
    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
    yaml_filename: ""

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

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", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    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:
    use_sim_time: True
    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

velocity_smoother:
  ros__parameters:
    use_sim_time: True
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.26, 0.0, 1.0]
    min_velocity: [-0.26, 0.0, -1.0]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: "odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

Expected behavior

I can compile with colcon build without problem, and I launch the simulation with

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

Rviz and Gazebo starts without problem, so I try to set the initial position using the RViz tool to set the 2D position (in the 3° I use ros2 launch slam_toolbox online_async_launch.py)

Actual behavior

In both cases I get this errors:

[component_container_isolated-6] [INFO] [1700652858.760815286] [global_costmap.global_costmap]: start
[component_container_isolated-6] [INFO] [1700652858.761636798] [global_costmap.global_costmap]: stvl_layer was activated.
[rviz2-5] [INFO] [1700652859.882882227] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches
[component_container_isolated-6] [INFO] [1700652859.913019570] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1700652859.914863086] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1700652860.021056606] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[component_container_isolated-6] [INFO] [1700652860.021124081] [lifecycle_manager_navigation]: Activating behavior_server
[component_container_isolated-6] [INFO] [1700652860.021420955] [behavior_server]: Activating
[component_container_isolated-6] [INFO] [1700652860.021448282] [behavior_server]: Activating spin
[component_container_isolated-6] [INFO] [1700652860.021472907] [behavior_server]: Activating backup
[component_container_isolated-6] [INFO] [1700652860.021487097] [behavior_server]: Activating drive_on_heading
[component_container_isolated-6] [INFO] [1700652860.021504167] [behavior_server]: Activating assisted_teleop
[component_container_isolated-6] [INFO] [1700652860.021515689] [behavior_server]: Activating wait
[component_container_isolated-6] [INFO] [1700652860.021529797] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1700652860.125669477] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[component_container_isolated-6] [INFO] [1700652860.125704458] [lifecycle_manager_navigation]: Activating bt_navigator
[component_container_isolated-6] [INFO] [1700652860.125952765] [bt_navigator]: Activating
[component_container_isolated-6] [ERROR] [1700652861.143982459] [bt_navigator_navigate_through_poses_rclcpp_node]: "ClearLocalCostmap-Context" service server not available after waiting for 1 s
[component_container_isolated-6] Magick: abort due to signal 11 (SIGSEGV) "Segmentation Fault"...
[ERROR] [component_container_isolated-6]: process has died [pid 98861, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_543eu3zk --params-file /tmp/launch_params_66wyy19r -r /tf:=tf -r /tf_static:=tf_static'].

Can you please help me to solve this problem? I can not find any solution. This is my question on Robotics StackExchange. Thanks in advance.

SteveMacenski commented 10 months ago

Do not cross post with robotics stack exchange. We'll follow up there