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ROS 2 Navigation Framework and System
https://nav2.org/
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Problem with bt_navigator turning off when 2d goal pose in ros2 foxy version #4163

Closed Booooms closed 7 months ago

Booooms commented 7 months ago

Bug report

Background information I'm trying to do navigation now using jackal. I keep getting errors where I do goal pose on rviz and the bt_navigator turns off a second later.

Required Info:

For your understanding, I will attach nav2.launch.py and nav2.yaml

Steps to reproduce issue

nav2.launch.py

from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    GroupAction,
    IncludeLaunchDescription,
    SetEnvironmentVariable,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node, PushRosNamespace
from launch_ros.substitutions import FindPackageShare

from nav2_common.launch import RewrittenYaml

def generate_launch_description():
    # Get the launch directory
    pkg_nav2_bringup = FindPackageShare("nav2_bringup")
    pkg_jackal_navigation = FindPackageShare("jackal_navigation")
    pkg_hunav_sim = FindPackageShare("hunav_rviz2_panel")

    # Create the launch configuration variables
    namespace = LaunchConfiguration("namespace")
    use_namespace = LaunchConfiguration("use_namespace")
    map_yaml_file = LaunchConfiguration("map")
    use_sim_time = LaunchConfiguration("use_sim_time")
    params_file = LaunchConfiguration("params_file")
    autostart = LaunchConfiguration("autostart")
    use_composition = LaunchConfiguration("use_composition")
    localization = LaunchConfiguration("localization")

    remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]

    # Create our own temporary YAML files that include substitutions
    param_substitutions = {"use_sim_time": use_sim_time, "yaml_filename": map_yaml_file}

    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="", description="Top-level namespace"
    )

    declare_use_namespace_cmd = DeclareLaunchArgument(
        "use_namespace",
        default_value="false",
        description="Whether to apply a namespace to the navigation stack",
    )

    declare_slam_cmd = DeclareLaunchArgument(
        "slam",
        default_value="false",
        choices=["true", "false"],
        description="Whether to run a SLAM",
    )

    declare_localization_cmd = DeclareLaunchArgument(
        "localization",
        default_value="true",
        choices=["true", "false"],
        description="Whether to run localization",
    )

    declare_nav2_cmd = DeclareLaunchArgument(
        "nav2", default_value="true", choices=["true", "false"], description="Whether to run Nav2"
    )

    declare_map_yaml_cmd = DeclareLaunchArgument(
        "map",
        default_value=PathJoinSubstitution([pkg_hunav_sim, "maps", "khu_5th_floor.yaml"]),
        description="Full path to map yaml file to load",
    )

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

    declare_params_file_cmd = DeclareLaunchArgument(
        "params_file",
        default_value=PathJoinSubstitution([pkg_jackal_navigation, "config", "nav3.yaml"]),
        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="True", description="Whether to use composed bringup"
    )

    # Specify the actions
    bringup_cmd_group = GroupAction(
        [
            PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
            Node(
                condition=IfCondition(use_composition),
                name="nav2_container",
                package="rclcpp_components",
                executable="component_container",
                parameters=[configured_params, {"autostart": autostart}],
                remappings=remappings,
                output="screen",
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    PathJoinSubstitution([pkg_nav2_bringup, "launch", "localization_launch.py"])
                ),
                condition=IfCondition(localization),
                launch_arguments={
                    "namespace": namespace,
                    "map": map_yaml_file,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                    "use_composition": use_composition,
                    "container_name": "nav2_container",
                }.items(),
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    PathJoinSubstitution([pkg_nav2_bringup, "launch", "navigation_launch.py"])
                ),
                launch_arguments={
                    "namespace": namespace,
                    "use_sim_time": use_sim_time,
                    "autostart": autostart,
                    "params_file": params_file,
                    "use_composition": use_composition,
                    "container_name": "nav2_container",
                }.items(),
            ),
        ]
    )

    # 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_namespace_cmd)
    ld.add_action(declare_slam_cmd)
    ld.add_action(declare_localization_cmd)
    ld.add_action(declare_nav2_cmd)
    ld.add_action(declare_map_yaml_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)

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

    return ld

nav2.yaml

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_link"
    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: 0.2
    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: /odom
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_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_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_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 50.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "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
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # 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
      footprint: "[ [0.254, 0.2159], [0.254, -0.2159], [-0.254, -0.2159], [-0.254, 0.2159] ]"
      plugins: ["obstacle_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 1.0
        inflation_radius: 0.55
      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"
      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
      footprint: "[ [0.254, 0.2159], [0.254, -0.2159], [-0.254, -0.2159], [-0.254, 0.2159] ]"

      robot_radius: 0.1
      resolution: 0.05
      width: 20
      height: 20
      origin_x: -10.0
      origin_y: -10.0
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          min_obstacle_height: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      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:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 1.0
        enabled: true
        inflation_radius: 0.25
      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: "/home/bj/ros2_ws/src/hunav_sim/hunav_rviz2_panel/maps/khu_5th_floor.yaml"

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5000
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: False

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 1.0
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "back_up", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    back_up:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 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: 2000
    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

I'm sorry. I'll explain it in words because there's no video attached. The jackal moves for about a second and then stops right away, resulting in the following error code. I've searched a lot, but I've seen a lot of comments to upgrade from the foxy version to the galactic version, is there any way to fix it in the foxy version?

Actual behavior

[amcl-3] [INFO] [1709530390.522565891] [amcl]: Setting pose (4749.099000): 0.000 -0.000 -0.047 [bt_navigator-8] [INFO] [1709530428.680735845] [bt_navigator]: Begin navigating from current location to (0.30, 2.27) [planner_server-6] [WARN] [1709530428.738250629] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 17.7831 Hz [controller_server-5] [INFO] [1709530428.752638301] [controller_server]: Received a goal, begin computing control effort. [planner_server-6] [WARN] [1709530429.817003639] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 18.1410 Hz [controller_server-5] [INFO] [1709530429.833090358] [controller_server]: Passing new path to controller. [controller_server-5] [ERROR] [1709530429.953147220] [tf_help]: Transform data too old when converting from odom to map [controller_server-5] [ERROR] [1709530429.953171766] [tf_help]: Data time: 4788s 609000000ns, Transform time: 4788s 389000000ns [controller_server-5] [ERROR] [1709530429.953327741] [controller_server]: Unable to transform robot pose into global plan's frame [controller_server-5] [WARN] [1709530429.953414977] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle. [controller_server-5] [INFO] [1709530429.971903603] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [controller_server-5] [INFO] [1709530429.972382686] [controller_server]: Received a goal, begin computing control effort. [controller_server-5] [ERROR] [1709530429.972699702] [tf_help]: Transform data too old when converting from odom to map [controller_server-5] [ERROR] [1709530429.972713962] [tf_help]: Data time: 4788s 629000000ns, Transform time: 4788s 389000000ns [controller_server-5] [ERROR] [1709530429.972809987] [controller_server]: Unable to transform robot pose into global plan's frame [controller_server-5] [WARN] [1709530429.972852147] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle. [controller_server-5] [INFO] [1709530429.991880341] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [planner_server-6] [INFO] [1709530429.992175413] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [bt_navigator-8] [WARN] [1709530430.002329790] [bt_navigator_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap. [bt_navigator-8] [ERROR] [1709530430.002570403] [bt_navigator]: Navigation failed [bt_navigator-8] [WARN] [1709530430.002597271] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle. [ERROR] [amcl-3]: process has died [pid 39910, exit code -11, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmpb8tu_wsk -r /tf:=tf -r /tf_static:=tf_static'].

nav2error

SteveMacenski commented 7 months ago

Foxy is EOL and receives no support. Please upgrade to modern ROS 2 distributions that have support (Iron, Humble, Rolling)