bt_navigator failing with error `Action server failed while executing action callback: "send_goal failed"`

Question

I am using

• ROS2 Foxy

• Nav2 for navigation

• Slam-toolbox for mapping and localization

• create_robot for odom

When I send a command to the ActionService navigate_to_pose from Nav2, most of the time bt_navigator will fail with the error:

[bt_navigator-9] [ERROR] [1627933160.614862066] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"

[bt_navigator-9] [WARN] [1627933160.615170308] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

As far as I can tell, I am calling the Service correctly and my issue might be with my configuration. My config for nav2 can be found here: https://pastebin.com/KkRUAB5s

I have also thrown all logs from this specific run into a pastebin here: https://pastebin.com/Rx1ZMUeg the error in question can be found on lines 428 & 429

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Originally posted by jacobwaller on ROS Answers with karma: 33 on 2021-08-02

Post score: 2

Answer 1

As per https://github.com/ros-planning/navigation2/issues/2272#issuecomment-880879354, best solution would be to switch from Foxy to Galactic, this solved issue for me.

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Originally posted by Serafadam with karma: 170 on 2021-08-05

This answer was ACCEPTED on the original site

Post score: 2