Empty Costamap when using point cloud for voxel layer

[Cavalletta98]

Bug report

Required Info:

• Operating System:

  • Ubuntu 22.04

• ROS2 Version:

  • Humble binaries

• Version or commit hash:

  • ros-humble-navigation2 1.1.16-1jammy.20240830.231501 ros-humble-nav2-amcl 1.1.16-1jammy.20240830.193818 ros-humble-nav2-behavior-tree 1.1.16-1jammy.20240830.193910 ros-humble-nav2-behaviors 1.1.16-1jammy.20240830.205037 ros-humble-nav2-bringup 1.1.16-1jammy.20240831.001909 ros-humble-nav2-bt-navigator 1.1.16-1jammy.20240830.205457 ros-humble-nav2-collision-monitor 1.1.16-1jammy.20240830.204654 ros-humble-nav2-common 1.1.16-1jammy.20240824.181243 ros-humble-nav2-constrained-smoother 1.1.16-1jammy.20240830.205908 ros-humble-nav2-controller 1.1.16-1jammy.20240830.205928 ros-humble-nav2-core 1.1.16-1jammy.20240830.204819 ros-humble-nav2-costmap-2d 1.1.16-1jammy.20240830.202726 ros-humble-nav2-dwb-controller 1.1.16-1jammy.20240830.214325 ros-humble-nav2-lifecycle-manager 1.1.16-1jammy.20240830.202342 ros-humble-nav2-map-server 1.1.16-1jammy.20240830.193909 ros-humble-nav2-mppi-controller 1.1.16-1jammy.20240830.205055 ros-humble-nav2-msgs 1.1.16-1jammy.20240824.181735 ros-humble-nav2-navfn-planner 1.1.16-1jammy.20240830.205449 ros-humble-nav2-planner 1.1.16-1jammy.20240830.205543 ros-humble-nav2-regulated-pure-pursuit-controller 1.1.16-1jammy.20240830.205157 ros-humble-nav2-rotation-shim-controller 1.1.16-1jammy.20240830.210830 ros-humble-nav2-rviz-plugins 1.1.16-1jammy.20240830.230452 ros-humble-nav2-simple-commander 1.1.16-1jammy.20240824.182428 ros-humble-nav2-smac-planner 1.1.16-1jammy.20240830.205547 ros-humble-nav2-smoother 1.1.16-1jammy.20240830.214913 ros-humble-nav2-theta-star-planner 1.1.16-1jammy.20240830.205759 ros-humble-nav2-util 1.1.16-1jammy.20240830.192949 ros-humble-nav2-velocity-smoother 1.1.16-1jammy.20240830.204314 ros-humble-nav2-voxel-grid 1.1.16-1jammy.20240824.181738 ros-humble-nav2-waypoint-follower 1.1.16-1jammy.20240830.205813

• DDS implementation:

  • Fast-RTPS

Steps to reproduce issue

1. In one terminal on the robot: ros2 launch clearpath_nav2_demos nav2.launch.py use_sim_time:=false
2. In another terminal on the robot: ros2 launch clearpath_nav2_demos slam.launch.py use_sim_time:=false
3. On the host machine: ros2 launch clearpath_viz view_navigation.launch.py namespace:=j100_0538

Expected behavior

Build a local costmap using point clouds generated by an Ouster OS LiDAR and a RealSense D435i camera.

Actual behavior

Costmap is empty when only the Voxel Layer is used. However, when the Static Layer is used, it functions correctly because the Static Layer relies on SLAM data, which utilizes information from the laser scan.

Additional information

Attached you can find the yaml files for nav2 and slam params.zip

[SteveMacenski]

Unfortunately, we do not currently offer support for third party robot vendors and their configurations / setups for Nav2. Please reach out to your robot vendor that setup your configurations for assistance. I can say though with near absolute certainty that the voxel layer in Humble is not broken for local costmaps. I would have received dozens of emails about that if so at the time of breakage ;-)

I'm guessing that you just don't have the right topic set in your config for your data.

[Cavalletta98]

Thank you so much

[Cavalletta98]

Hi @SteveMacenski i investigating deep and the problem is that my local costamp is working but is empty when using only the pointcloud from relasense camera. I shared with you the configuration used for the nav2. Do you have some ideas? the same nav2 configuration is working with the simulated realsense nav2.zip