Closed david-wb closed 4 months ago
Hey, it could probably that, in the launch file, the use_sim_time
param might be set to false
. Could you please check that?
@padhupradheep No, there is not a single instance where use_sim_time
is false in my repo.
Can you report the value of use_sim_time
for the global_costmap
, controller_server
and planner_server
? The costmaps inherit this parameter from the controller and the planner nodes. See here
They all show use_sim_time: false
. But I set use_sim_time: True
for every config in the nav2_params.yaml
.
Weird, the next step would be to try to reproduce on our side.
Launch the simulation
Can you send the exact command you ran? (along with any other setup-specific stuff we should know about)
If I pass use_sim_time = true
to the nav2 bringup, finally everything uses sim time. It seems this global parameter always overrides the params file, even when unset.
bringup = IncludeLaunchDescription(
PythonLaunchDescriptionSource(bringup_share + "/launch/bringup_launch.py"),
launch_arguments={
"params_file": os.path.join(pkg_share, "config/nav2_params.yaml"),
"map": os.path.join(pkg_share, "config/map.yaml"),
"use_sim_time": "True",
}.items(),
)
@david-wb can you reproduce using the nav2_bringup as the example, not your custom files? That helps us isolate potential problems to bugs in the stack vs bugs potentially present in your custom use. For example, when you launch with use sim time as true/false, do you still see that issue with our default bringup? https://github.com/ros-navigation/navigation2/blob/main/nav2_bringup/launch/tb3_simulation_launch.py
Sure, here is the simplest way I can reproduce the issue.
Run
ros2 launch nav2_bringup bringup_launch.py map:=/opt/ros/humble/share/nav2_bringup/maps/turtlebot3_world.yaml
This will use the default nav2 params which have use_sim_time
set to True
for the /amcl
node.
But the actual value is False
:
$ ros2 param get /amcl use_sim_time
Boolean value is: False
It seems the use_sim_time
param of bringup_launch.py
overwrites whatever is present in the params file, even when it is unset. Maybe this is by design, but it means the values of use_sim_time
in the params file are always ignored, which is a bit confusing.
I just tested
ros2 launch nav2_bringup tb3_simulation_launch.py
steve@reese:~/Documents/navigation2_ws$ ros2 param get /amcl use_sim_time
Boolean value is: True
and
ros2 launch nav2_bringup tb3_simulation_launch.py use_sim_time:=False
steve@reese:~/Documents/navigation2_ws$ ros2 param get /amcl use_sim_time
Boolean value is: False
So this appears to be working in main
. Humble's branch is a little different in the use sim time handling, so make sure to use the files from humble
to base your launch and nav2 yaml configuration files based off of. If you mix and match you will run into issues since the use sim time handling between the main
branch and humble
was fundamentally refactored. From experience, I know some users have had issues mixing and matching branch config/launch/nodes so just want to point that out and ask that you test that.
The problem is that the launch file will always override whatever is in the params file for the use_sim_time param. It is not an issue for me now that I am aware of it.
Yes, this is the case. use_sim_time
has always been a "special" parameter that has unique considerations. You can however remove the setting of use_sim_time
from your launch files so that it only uses what's in the param files, which should be straight forward.
Does that answer you question?
Yup, all good thanks.
Bug report
The
/local_costmap/local_costmap
node does not respect theuse_sim_time
parameter.Required Info:
Steps to reproduce issue
use_sim_time: True
forlocal_costmap
Expected behavior
The ros2 param dump should show
use_sim_time: true
and the local costmap should update in rviz as the robot moves.Actual behavior
The ros2 param dump shows
use_sim_time: false
, and the local costmap fails to update in rviz as the robot moves.