0
$\begingroup$

I am migrating from the turtlebot3 to my own vehicle with nav2. The robot does not move after a Nav2 goal is given, and i suspect the trajectory is not feasible.

I have the x-Axis pointing in driving direction and setting a 2D Pose Estimate does align the robot in driving direction, when i apply a Nav2 Goal i get a trajectory but the arrows within are orthogonal to the driving direction, i guess this makes it unfeasible for the robot to follow it.

Where can i change these settings? Or am i wrong about the transformations? Is x in driving direction a convention for nav2?

Edit: The orientation comes from the map frame, however, i still see no movement of the robot, it might be more related to the settings i guess

[component_container_isolated-6] [WARN] [1724930152.477387555] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-5] [INFO] [1724930152.492994788] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930146.433 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1724930153.077604571] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930147.061 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1724930153.679257406] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930147.634 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1724930154.289066914] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930148.234 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1724930154.889846097] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930148.834 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1724930155.471113928] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930149.433 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1724930156.065253570] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930150.034 for reason 'discarding message because the queue is full'
[component_container_isolated-6] [WARN] [1724930156.330377415] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[rviz2-5] [INFO] [1724930156.642716022] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724930150.634 for reason 'discarding message because the queue is full'
[component_container_isolated-6] [WARN] [1724930156.990832274] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-6] [WARN] [1724930157.098119951] [behavior_server]: Exceeded time allowance before reaching the Spin goal - Exiting Spin
[component_container_isolated-6] [WARN] [1724930157.098221214] [behavior_server]: spin failed
[component_container_isolated-6] [WARN] [1724930157.098241042] [behavior_server]: [spin] [ActionServer] Aborting handle.
[component_container_isolated-6] [INFO] [1724930157.117086711] [behavior_server]: Running wait
[rviz2-5] [INFO] [1724930157.263304383] [rviz2]: Message Filter dropping message: frame 'odom' at

enter image description here

Improve this question
$\endgroup$
1
  • $\begingroup$ Can you edit the question with the error logs, more detail about your situation, possibly a video, and config files? I can't really understand your problem, what's going wrong, or how you have it setup. $\endgroup$
    – Steve Macenski
    Commented Aug 29 at 15:28

1 Answer 1

Reset to default
1
$\begingroup$

I found my error, i had to remap cmd_vel as ackermann_steering_controller does listen to topic "ackermann_controller/reference_unstamped", for anyone else encountering the problem with Nav2, you can copy my solution here

    GroupAction(
        actions=[
            SetRemap(src='/cmd_vel', dst='/ackermann_controller/reference_unstamped'),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    PathJoinSubstitution([FindPackageShare('nav2_bringup'), 'launch', 'bringup_launch.py'])
                ),
                launch_arguments={
                    'params_file': PathJoinSubstitution(
                        [FindPackageShare('iav_rover_nav2_bringup'), 'params', 'nav2_params.yaml']
                    ),
                    'map': PathJoinSubstitution(
                        [FindPackageShare('iav_rover_nav2_bringup'), 'maps', 'empty_map.yaml']
                    ),
                }.items(),
            ),
        ]
    ),
Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.