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Questions tagged [nav2]

Questions related to the ROS 2 Nav2 system (e.g. Navigation Stack)

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Ekf_node not publishing any tf transform

I am working with Nav2 packages for autonomy. A first step to make this work is to get odometry working. I am trying to get an ekf_node to publish an odom->base_footprint transform (the URDF has ...
Marc's user avatar
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1 vote
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4 views

ROS2 Navigation2 Configuration for Dynamic Environment

I am currently deploying an AMR for logistics use case in a Warehouse based on ROS2 Humble. It is a traditional warehouse where the environment is changing frequently (every 15 minutes). Almost all of ...
Michael Jonathan's user avatar
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Turtlebot4Navigator node stops without error

I am using Turtlebot4Navigation package to navigate the robots through the environment. Turtlebots are set up in a way that they wait for a message on a topic that will have them leave the dock and ...
zdaga's user avatar
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1 answer
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Tune Nav2 parameters - Ackermann vehicle

I have an ackermann vechicle and I want to tune the Nav2 params, but I cannot do it well. This video shows what I have with my current tuning, at first it is ok, but when I'm in the vicinity of the ...
user37959's user avatar
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1 answer
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Can' find my custom node for a new behavior Tree plugin RO2 nav2 bt_navigator

Hey I'm trying to write a behavior tree plugin following this tutorial https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html I'm on Ubuntu20.04 using Ros2 galactic and v3 for ...
Evrard Emonot's user avatar
0 votes
1 answer
22 views

Local planner and local costmap usage info

I am having some trouble understanding Global/local costmap and planner and would need some info pls. I am using a Regulated Pure Pursuit controller and the Path is created via the planner server ...
Tom Lemmel's user avatar
1 vote
1 answer
26 views

Is there any way to change the color of line (trajectory) that appears in the SLAM once the robot starts moving using ROS2 and Nav2?

I want to change this pink line in the image below. I'm using ros2, SLAM and nav2.
Lau-quim's user avatar
0 votes
0 answers
11 views

Zero cmd_vel while using custom nav2 Behavior

I have created a custom behavior tree plugin which detects an AprilTag and tries to follow it. The behavior plugins publishes a command velocity after on the cmd_vel topic. The issue I'm facing is ...
Sriram's user avatar
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NAV2 Custom Robot is not following path while moving

I prepared a custom robot and whenever I publish velocity from the teleop, it moves well. My robot hasn't got IMU but it is localizing and mapping via LIDAR. It generates a map successfully with ros2 ...
Eren's user avatar
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1 answer
39 views

Nav2 map server - map frame does not exist in RVIZ

I created my custom wheel robot and run it in ROS2 Humble. My launch file: ...
Kirill Partala's user avatar
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0 answers
26 views

Robot Freezing and Hopping while navigating with slam_toolbox

I'm currently facing an issue with my robot's navigation using the slam_toolbox. I intend to perform SLAM in a large empty outdoor environment like a parking lot, so my initial setup reflects this. ...
skatellite's user avatar
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0 answers
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Nav2 how to smooth velocities with deadband?

I'm having trouble with the cmd_vel that nav2 gives me for my robot. The robot only moves with : angular speeds ∈ [-1rad/s, -0.3rad/s] ∪ [0.3rad/s, 1rad/s] linear speeds ∈ [-1.2m/s, -0.3m/s] ∪ [0.3m/s,...
Tom Lemmel's user avatar
0 votes
0 answers
8 views

How to send custom goal to Nav2?

I want to create a custom behavior tree with some additional functionality apart from navigation. I want to add functionality to automatically dock to a charging station when a command is received. ...
Sriram's user avatar
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0 answers
16 views

nav2 cmd_vel only has Theta values

i am trying to integrate nav2 on a real robot. So far i managed to generate maps using the slam toolbox and load them, it creates a costmap, the local costmap is updated and sees obstacles. A path is ...
Tom Lemmel's user avatar
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0 answers
14 views

Return of a mobile robot to skipped places (nav2, opennav_coverage)

I am planning an autonomous vacuum cleaner application in which I will use opennav_coverage to cover the full area. I expect a situation where the robot will miss part of the area due to an obstacle ...
SKJQ's user avatar
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1 answer
19 views

How to set up depth camera to do obstacle avoidance in navigation2

I follow the navigation2 docsnavigation2 docs and add a depth camera to my gazebo model, the depth camera works fine until I configure the pointcloud from depth camera to do obstacle avoidance. There ...
Phymin's user avatar
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1 answer
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Nav2 bringup not launching if namespace is passed as an argument

I am trying to launch nav2 bringup to perform navigation in a gazebo simulation. This was working initially, but now when I launch the nav2_bringup ...
Sriram's user avatar
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3 answers
40 views

Costmap not published but robot navigates through the map

I am trying to simulate navigation on a differential drive robot in gazebo. I'm using the default config file for nav2 with the topic names changed. The navigation seems to work fine (navigates to ...
Sriram's user avatar
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0 votes
1 answer
21 views

How to select costmap layers in navigation plugins

Navigation2 provides plugins of costmap-layers for creating costmaps, such as Voxel Layer, Static Layer, Inflation Layer, Obstacle Layer. What is the basis for the selection to create global costmap ...
kao.zhu's user avatar
0 votes
1 answer
27 views

Robot Blinking Like an UFO in RViz and Costmap Issues, Potential Problem with odom to base_footprint Broadcast for Real Robot

I'm experiencing an issue with my ROS2 setup where my robot appears to blink like a UFO in RViz, and the costmap blinks intermittently. Here’s a detailed breakdown of my situation: 1 - Setup I have a ...
Marcus Vinicius's user avatar
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0 answers
13 views

Nav2- Using BehaviorTree.CPP nodes along with nav2 BT plugins

My application is dynamic object following and tracing the recorded goal poses to return to the intial pose when no /goal_update message is received for 5 seconds. ...
AUNebulosa's user avatar
0 votes
1 answer
25 views

ROS2 robot_localization how to correct x and y position when hit a wall

I started using the robot_localization EKF node recently to fuse encoder odometry and IMU data (I'm using a differential robot with 2 wheels). It works well because if I rotate the robot by hand, the ...
Gaetano Pispisa's user avatar
0 votes
1 answer
11 views

nav2 amcl robot local costmap offset from global costmap

I have a problem using nav2 and amcl on a gazebo-simulated robot in which the odom frame and local costmap drift as the robot moves. Please see the screenshot below. Here is the environment for ...
David Brown's user avatar
0 votes
0 answers
12 views

Need whole system to be running on sim time

I'm using Ubuntu 22.04 and ros2 humble. When using nav2, my robot follows its set path, but midway through gets an error then spins and comes to a stop. I believe its because of this line in the error:...
Aidan Reilly's user avatar
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0 answers
13 views

Installing Nav2 Packages on ROS 2 Humble Edition for Windows 10

I've installed the ROS 2 Humble edition binary on Windows 10. Is it possible to install Nav2 packages on this system? If so, how can I do it?
Alperen's user avatar
0 votes
0 answers
38 views

Nav2 MPPI Controller how to control the speed

I'm currently working on a project involving a four-wheeled, car-like robot with Ackermann configuration. To control its movement, I've opted for the MPPI Controller, known for its compatibility with ...
dani santana's user avatar
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0 answers
13 views

ros1_bridge pairs all topics but no data flows in some

I am working on the ridgeback robot of clearpath. I want to use some ros2 nodes so I have make a docker container running ros1_bridge (image ros:foxy-ros1-bridge). When I use current configuration ...
smarn's user avatar
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0 votes
0 answers
23 views

How to Install ROS2 Packages on Windows 10

In the past, I worked with Ubuntu-Ros1. When transitioning to Ros2, I initially wanted to try it on Windows. I installed Ros2 Humble on Windows 10 as a binary and have managed to run basic nodes. ...
aoz_rob's user avatar
0 votes
2 answers
72 views

Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps

Setup: I am using Ubuntu 22.04 and ROS2 Iron, Two 3D Velodynes, a radar. I am using a ros2 bag in which I recorded the autonomous vehicle launched topics (just to get the sensors data: GPS, odom, imu, ...
Marcus Vinicius's user avatar
0 votes
1 answer
46 views

How to trigger nav2 controller to follow the path that given from the custom planner

based on my previous post MPPI+SmacPlannerHybrid navigation with a large base_footprint problem I've tried so hard tuning parameter for SmacHybridPlanner and I think it's not able to plan the path ...
FunkFang's user avatar
0 votes
1 answer
43 views

Access Issue to navigation2 Documentation Website. Is website off?

I am experiencing issues accessing the navigation2 documentation website at navigation.ros.org. When attempting to access the site, I receive a DNS error: "DNS_PROBE_FINISHED_NXDOMAIN." ...
Marcus Vinicius's user avatar
1 vote
1 answer
47 views

Navigating While Mapping - Ackermann vehicle

I've been trying to do this https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html but with a ackermann vehicle. The localization and the mapping seem off. Here is a video that shows ...
user37959's user avatar
0 votes
2 answers
26 views

nav2 - costmap without SLAM map

The map that slam-toolbox is supplying is too noisy. I would like to have nav2 construct its costmaps - global and local - using the laserscan only, and to disregard the map the SLAM is supplying. ...
amit zalman's user avatar
0 votes
2 answers
76 views

How to configure Nav2's SMAC Planner to maintain a safer distance from obstacles?

I'm facing an issue where the SMAC Planner in Nav2 consistently plans paths too close to obstacles, often just on the margins or even within the inflated areas. My aim is for the planner to ...
Marcus Vinicius's user avatar
0 votes
0 answers
17 views

How to prevent Elliptical Path Reorientation of SMAC Planner in Nav2 Ackermann Robot

Hi I am using ROS2 Iron and NavigateTroughPoses behavior to navigate over GPS waypoints. The global path planner configured is the SMAC Planner set for a Dubin motion model. I am encountering unwanted ...
Marcus Vinicius's user avatar
0 votes
0 answers
38 views

Problems using nav2 on a real robot

I' m trying to use nav2 on a real robot. However, I have several problems such as: After I had launched launch_robot.launch.py and ...
Hadi's user avatar
  • 1
0 votes
1 answer
39 views

local_costmap from nav2 is not displayed in rviz2

I've tried to view local_costmap from /local_costmap/costmap topic in rviz2, but it doesn't work in ROS2 Humble because of following error: "[INFO] [1714830442.379829286] [rviz]: Message Filter ...
ArtemKondratev's user avatar
0 votes
0 answers
14 views

Issue with Automatic Goal Abortion in ROS2 Humble with RViz

I'm using ros2 humble, while I run ros2 navigation with turtlebot3 burger, In rviz once I set Goal it initially assigns goal and start moving but within seconds the goal got aborted I don't know the ...
loveson vashikaran's user avatar
0 votes
1 answer
24 views

NAV2 controller plugin asking directly for re-planning or recovery behavior to BT

In the actual Nav2 architecture, the requests for re-planning or for triggering a recovery behavior are performed by the progress checker plugin to the BT. There are, however, situations in witch one ...
Luca Bascetta's user avatar
0 votes
0 answers
11 views

Omni Robot with ros_planar_move 4 wheels doesnt behave like omni robot

everyone. I'm trying to enable navigation on a 4-wheel omni robot but it doesnt behave like expected, no y-linear velocity commands. I have tried all different controllers and planners to no effect. ...
Lourenco Conceicao's user avatar
0 votes
1 answer
37 views

AMCL is not publishing map -> odom TF [HUMBLE]

I'm working with an ackermann car-like robot. I've just created a map with SLAM and now following the turtlebot3 tutorial I'm loading it in the NAV2 launch with the AMCL. The thing is the map frame is ...
dani santana's user avatar
0 votes
0 answers
19 views

Adjusting the Origin of Rolling Costmaps in ROS2 Nav2 for Forward Offset

I am trying to adjust the origin of both global and local rolling costmaps to be positioned in front of the vehicle instead of centering the robot within them. Despite setting the origin_x and ...
Marcus Vinicius's user avatar
0 votes
1 answer
30 views

Failed processing YAML file - Nav2 Bringup

The get the error when i launch the nav2 bringup_launch.py using the following cmd: ros2 launch nav2_bringup bringup_launch.py params_file:=/workspaces/irobot_workspace/src/create_robot/...
Student's user avatar
  • 23
1 vote
1 answer
37 views

Octomap - Save map using nav2_map_server

I am trying to save the projected map of octomap as yaml to use it in the navigation stack. First I remapped /projected_map to /map in the launch file. I can see the map on rviz and here is the ...
Student's user avatar
  • 23
0 votes
1 answer
57 views

lidar laser scan points rotated in nav2

I am simulating a simple custom robot in Gazebo Fortress and controlling it with nav2 using AMCL for localization. Everything is working normally using odometry only, but I am now observing strange ...
David Brown's user avatar
1 vote
0 answers
22 views

Issue changing Behavior Tree in Nav2

I am trying to follow this tutorial for NAV2 to begin development of dynamic object following. I got everything running however I am not quite sure that I properly changed the behavior tree. I haven't ...
Lukas Nöller's user avatar
0 votes
1 answer
30 views

Is it possible to use Nav2 Low Level Controllers without a map?

I am currently building a car-like robot and wrote a simple pure-pursuit controller. I found that Nav2 has a really nice implementation of it. Since my robot does not compute an occupancy grid, but ...
multiplex's user avatar
1 vote
1 answer
72 views

How to reach goal pose with less than 5cm of error in Nav2

I'm trying to use nav2 to move a diff-drive robot to a follow a path to a goal pose with less than 5cm of distance error and 5 degrees of angular error. Unfortunately, all local plannars I have tried ...
David Brown's user avatar
0 votes
1 answer
32 views

How to Extend the Reach of Global Path Planning in Nav2 for Large Open Areas?

My operational environment is a vast bayland terrain, where the robot needs to navigate effectively over long distances between waypoints (In Red). Issue Description: My global planner struggles to ...
Marcus Vinicius's user avatar
0 votes
0 answers
32 views

Nav2 only sending rotating commands

As stated in the title, I'm currently working on a school project where we are using Nav2 to get a differential drive robot to autonomously navigate a given area. We are successfully mapping the ...
Alec's user avatar
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