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ROS 2 Navigation Framework and System
https://nav2.org/
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Global Costmap Not Updating with New Obstacles in ROS2 #4477

Closed kMinsAlgorithm closed 4 months ago

kMinsAlgorithm commented 4 months ago

Bug report

Required Info: Operating System: Ubuntu 22.04 ROS2 version: Humble binaries

Hello everyone,

I am currently working on a navigation project using ROS2 and have encountered an issue with the global costmap. New obstacles are correctly detected and reflected in the local costmap, but they do not appear in the global costmap.

Problem Description

New obstacles are visible in the local costmap but are not shown in the global costmap. Despite using the same laser scan data, the global costmap is not updating with the new obstacles.

Questions

What settings should I check to ensure that the global costmap reflects the same obstacle information as the local costmap? Are there specific configurations in the global costmap's obstacle layer that I should verify? Has anyone experienced a similar issue and can share their insights or solutions? Thank you in advance for your help!

here is my nav2 yaml and Screenshot of the current situation image

`amcl:
  ros__parameters:
    use_sim_time: False 
    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: False

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
    bt_loop_duration: 10
    default_server_timeout: 20
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_compute_path_through_poses_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
    - 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

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 10.0
    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"]
    controller_plugins: ["FollowPath"]

    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0

    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25

    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.7
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.7
      min_speed_theta: 0.0
      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: 0
      vtheta_samples: 40
      sim_time: 2.0
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.05
      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: False

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: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.35
      plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        inflation_radius: 1.0
        cost_scaling_factor: 0.5
      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: 7.5
          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: False

  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

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: 0.35
      resolution: 0.05
      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
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 7.0
          raytrace_min_range: 0.0
          obstacle_max_range: 7.5
          obstacle_min_range: 0.0
      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: 7.0
          raytrace_min_range: 0.0
          obstacle_max_range: 7.5
          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: 0.5
        inflation_radius: 1.0
      always_send_full_costmap: True

  global_costmap_client:
    ros__parameters:
      use_sim_time: True

  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

map_server:
  ros__parameters:
    use_sim_time: False
    yaml_filename: "map.yaml"

map_saver:
  ros__parameters:
    use_sim_time: False
    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: False
    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: False

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      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: False

waypoint_follower:
  ros__parameters:
    loop_rate: 200
    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
`

and here is my navigation2 launch file

~~

def generate_launch_description():
    start_rviz = LaunchConfiguration('start_rviz')
    use_sim = LaunchConfiguration('use_sim')

    map_yaml_file = LaunchConfiguration(
        'map_yaml_file',
        default=PathJoinSubstitution(
            [
                FindPackageShare('swerve_nav2'),
                'map',
                'map.yaml'
            ]
        )
    )

    params_file = LaunchConfiguration(
        'params_file',
        default=PathJoinSubstitution(
            [
                FindPackageShare('swerve_nav2'),
                'param',
                'swerve_robot.yaml'
            ]
        )
    )

    nav2_launch_file_dir = PathJoinSubstitution(
        [
            FindPackageShare('nav2_bringup'),
            'launch',
        ]
    )

    rviz_config_file = PathJoinSubstitution(
        [
            FindPackageShare('swerve_nav2'),
            'rviz',
            'nav2.rviz'
        ]
    )
return LaunchDescription([
    DeclareLaunchArgument(
        'start_rviz',
        default_value='true',
        description='Whether execute rviz2'),

    DeclareLaunchArgument(
        'use_sim',
        default_value='true',
        description='Start robot in Gazebo simulation'),

    DeclareLaunchArgument(
        'map_yaml_file',
        default_value=map_yaml_file,
        description='Full path to map file to load'),

    DeclareLaunchArgument(
        'params_file',
        default_value=params_file,
        description='Full path to the ROS2 parameters file to use for all launched nodes'),

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

    IncludeLaunchDescription(
        PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
        launch_arguments={
            'map': map_yaml_file,
            'use_sim_time': use_sim,
            'params_file': params_file,
            # 'autostart': autostart,
            # 'use_respawn': True,
        }.items(),
    ),

    Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', rviz_config_file],
        output='screen',
        condition=IfCondition(start_rviz)),
])
SteveMacenski commented 4 months ago

Please ask / search on Robotics Stack Exchange or checkout our configuration docs at docs.nav2.org.