Closed NachtaktiverHalbaffe closed 10 months ago
@NachtaktiverHalbaffe Thank you for bringing this up, I think I see your point and will look into this.
Great, keep me up to date if the have to forward the issue into the Nav2 project if its a pure Nav2-issue
Also forgot to mention that my fellow student runs it on bare metal (but also humble versions, not iron) instead of Docker, so it isnt a platform issue
@NachtaktiverHalbaffe I have entered a ticket with Nav2 to clarify how namespacing should be handled / remapped. The content of the ticket refers to the other clearpath repos but the solution will be applied to turtlebot4 as well. Please follow along here https://github.com/ros-planning/navigation2/issues/3772
I have jumped into the github issue and also provided the things I found out during futher debugging and problem solving. Meanwhile the workaround is to specify absolute topics or use rewrittenyaml in the launchfile there these topics are rewritten to the right absolut ones
Please provide the following information: OS: Ubuntu 22.04 (Docker) ROS Distro: Humble Built from source or installed: Installed Package version: 1.0.3-1jammy.20230722.003833
Expected behaviour With provided configuration file the voxellayer/obstaclelayer are detecting and showing obstacles in costmaps
Actual behaviour Voxellayer (and also obstacle layer) not subscribing to right scan topic and thus not showing obstacles in costmaps. In Rviz2 its suggesting to add a /< namespace >/localcostmap/scan topic to visualization which seems very suspicious. This topic doesnt appear with my workaround when everything works as expected. I think the layers trying to subscribe to this topic to where clearly no publisher exists
To Reproduce Provide the steps to reproduce:
My workaround I changed the topics of the data sources to "absolut" topics instead of ""relative" ones. A fellow student had also this issue with another turtlebot with stock trutlebot humble software (no namespacing) and this fix also helped. I provide the updated part of the config below:
I think the voxel layer isn't appending the prefixes right to the topics if using "relative" topics. Could be a nav2 issue, but I want to start reporting in this place in case you spot anything different before reporting to the nav2 project