Questions tagged [nav2]

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

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How to use Open Navigation's Nav2 to create and follow coverage path

I'm setting up a differential robot simulation in ROS2 Iron using SLAM and Nav2. I'm interested in implementing coverage path planning similar to a vacuum robot. I found Open Navigation's Nav2 ...
Kim Phước Lý's user avatar
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Robot drives near keepout zones, and stops when "incidentally" enters the keepout zone

Required Info: Operating System: Ubuntu 22.04 ROS2 Version: Humble Version or commit hash: apt binary Steps to reproduce issue I'm using DWBLocalPlanner on a rectangular robot. The robot needs ...
Kazemani 118's user avatar
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Simulating Navigation Behaviors for a Quadruped Robot Using a Simpler Robot Model (TurtleBot) in Gazebo and RViz

I am working on a project in ros2 humble involving a real-life quadruped robot (wavego with lidar), and I am exploring the feasibility of initially simulating navigation behaviors using a simpler ...
Arnau Crespo's user avatar
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13 views

Drift Issue while doing SLAM using slam toolbox

Version: ROS2 Humble I am trying to map the lab space with my ackermann robot. I have the incoming scan data and the odometry twist field with linear.x and linear.y input from an optical flow sensor, ...
Rakshit Soni's user avatar
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1 answer
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How can I determine when the robot reaches the goal in Nav2?

I’m currently implementing my global planner using ROS2 and Nav2. I’ve written a planner plugin in Nav2 following the tutorial at https://navigation.ros.org/plugin_tutorials/docs/...
sippathamm's user avatar
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2 answers
54 views

nav2: how to ignore part of the robot on the lidar scan plane

I'm using nav2 on a real robot. It has a 360º Lidar and right behind it it has magnetometer mounting pole. Lidar driver has not angle range limit parameter. So I'm wondering how to ignore an object ...
Leonardo Garberoglio's user avatar
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10 views

how does odom to map drift affect to nav2?

I'm using nav2 GPS WP Logger and follower on a real robot on an outdoor environment. First I drive the robot with a joystick and log each WP. Then I run nav2 on the robot and Rviz on a laptop. ...
Leonardo Garberoglio's user avatar
1 vote
1 answer
29 views

Nav2: Local costmap for robot with obstacles

I am trying to implement a corner of the nav2 stack on a robot. What i am interested in, is using the costmap_2d package, to keep track of incoming obstacles in a local costmap, by rolling it infront ...
Victor Soeby's user avatar
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1 answer
25 views

Collision Monitor in Nav2 not work

I am new to using Collision Monitor in Nav2 package. I am wondering how to make it worked because I can launch the default launch file and my yaml file is as the following ...
Peera Tienthong's user avatar
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1 answer
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Obstacle layer in global costmap not set

Greeting, I would like to ask about setting the global costmap parameters especially the plugins. Currently in my system I enabled the following plugins- static, inflation, obstacle and voxel layers. ...
Peera Tienthong's user avatar
-1 votes
1 answer
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Nav2 Unable to Switch BT (Galactic)

This question is asked a few times and I tried changing the yaml file but still when I load groot live monitoring, its always default bt loaded. Can you anyone suggest suggestions/corrections to try. ...
Ani's user avatar
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Problem with Nav2 and RVIZ

I'm trying to set up Nav2 (ROS2 Humble + Ubuntu 22.04.3 LTS) to work in a simulation environment. When I start the nav2 launch file, I see this on RVIZ, if from the Nav2 launch file I remove the ...
Mattia Dutto's user avatar
1 vote
0 answers
28 views

How to change the robot_base_frame frame based on forward/reverse driving in NAV2

What is the best way to change the robot_base_frame based on the direction you are driving? For a normal car, it has symmetrical behavior when driving forward/backwards so it does not matter much. But ...
Nikolai's user avatar
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1 answer
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Nav2 Planner/Controller params for Ackermann Vehicle

I'm trying to use nav2 with a real self-driving golf cart. The architecture of the cart is not complex: The rear wheels respond to twist.linear.x commands The steering instead with the twist.angular.z ...
Supermax182's user avatar
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1 answer
33 views

Comparing navigation algorithms

I am new to Nav2 stack and currently there are a bunch of navigation plugins to choose from (https://navigation.ros.org/plugins/index.html). I am interested in how to choose available algorithms from ...
Peera Tienthong's user avatar
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2 answers
52 views

base_footprint of articulated vehicle

I have a conceptual doubt. The base_footprint for a vehicle is given with respect to the base_link (projected on the 2D plane). I am unable to comprehend what happens when we have an articulated ...
ra130's user avatar
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1 answer
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How do I update the costmap origin's orientation with the help of static layer plugin in Nav2?

I have been trying to use the static layer plugin in Nav2. My custom map_topic has a different orientation of its origin as compared to the /map topic published by slam toolbox. But the processMap ...
Sagar's user avatar
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Gazebo Ground truth pose

I'm currently running a simulation with multiple robots on gazebo fortress and I was wondering how I could have gazebo publishing the ground truth pose of each robot in a way that can be used with ...
Mechaick's user avatar
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1 answer
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Goal was rejected by server, Nav2 Ros2 Humble

I am trying to follow the Getting Started page on the nav2 docs but whenever I try to set a Nav2 Goal, I get this error: ...
Michael's user avatar
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1 answer
41 views

Make the robot stop if it finds an obstacle in front

I am using the navigation stack (nav2) without problems, but I would like to understand how I can make the robot stop from its path if it finds a dynamic obstacle in front of it (at a minimum distance ...
Supermax182's user avatar
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1 answer
31 views

Nav2 Collision Monitor: how to recover after stop

I use the Nav2 Collision Monitor as a kind of a (high level) security for my robot. But after a stop the only way I found out is to send velocity commands direct to the robot. So my question is there ...
MichaelT's user avatar
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Map not updating when using slam_toolbox in ROS2 Galactic

I am currently learning mapping(slam_toolbox) and navigation(nav2) in ROS2 Galactic, using the gazebo turtlebot3 simulation. In specific, I am trying to implement lifelong mapping for my turtlebot3 ...
oblivious_turtle21's user avatar
0 votes
2 answers
38 views

Integrating Alternative Local Planners (Controller) with ROS 2 Navigation2 Stack for an Ackermann Robot

I'm working on a project with ROS 2 Iron and the Navigation2 stack, focusing on an Ackermann-steered robot. I've encountered issues while trying to integrate alternative local planners, such as TEB, ...
Marcus Vinicius's user avatar
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1 answer
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Inflation layer costs: Polygonal vs. Circular Footprints

Does the inflation layer calculate Inflation cost in global costmap differently within the inflation radius when initialized with a polygonal footprint versus a circular footprint? Exclude the local ...
Ravi Kumar's user avatar
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2 answers
72 views

ROS2 Foxy | Nav2 returns "send_goal failed" error

I have been following this youtuber "Articulated Robotics" for implementing my autonomous robot. Everything has gone good so far including slam The only error is nav2 randomly works (1 out ...
Umesh's user avatar
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1 answer
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Performance of spatio_temporal_voxel_layer with LaserScan data

Today, I use the out of the box "nav2_costmap_2d::ObstacleLayer" plugin with a LaserScan message coming from my stereo camera (and so I convert depth image to LaserScan). Unfortunately, I'm ...
Antoine Van Malleghem's user avatar
0 votes
1 answer
42 views

Erratic Robot Movement in RViz2 with Nav2: Back and Forth Motion and Small Jumps

I'm encountering a peculiar issue with robot movement in RViz2 using Nav2, where the robot exhibits erratic back-and-forth movements accompanied by small jumps during the simulation. This behavior is ...
Marcus Vinicius's user avatar
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0 answers
16 views

[bt_navigator_navigate_to_pose_rclcpp_node.rclcpp_action]: unknown result response, ignoring

Operating System: Ubuntu 22.04 LTS and Humble DDS implementation: FastDDS Client library (if applicable): rclcpp Suddenly, I am getting this error. To replicate: I have used two different ways: <...
GPrathap's user avatar
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1 answer
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Nav2: Migrate from nav_msg::getPlan

I've been migrating to ROS Humble a ROS 1 exploration project in C++. This project considers a list of goal candidates and to evaluate them we use to call the service ...
joanvallve's user avatar
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2 answers
58 views

Nav 2 on Ros foxy or humble

I am a beginner in robotics and have a few questions and problems that I could use help with. First, I have a robotics competition in a few weeks, and I have a Jetson Nano running ROS. I was using ROS ...
MIS Robotics's user avatar
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Persistent Compilation Errors in nav2_controller on ROS2 Iron with Ubuntu 22.04 Despite Workspace Sourcing

Description: I am facing ongoing compilation errors when trying to build the nav2_controller package from the Navigation2 repository on ROS2 Iron running on Ubuntu 22.04. Despite correctly cloning the ...
Marcus Vinicius's user avatar
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0 answers
35 views

Ros2 robot won't move sideways with dwb or mppi controllers

I am unable to get the mppi or dwb controllers to move in the Y direction. If I set a goal that is close to the current position parallel to the current robot heading, the robot will shimmy back and ...
robo-ryan's user avatar
0 votes
3 answers
92 views

ros2 map not received when using slam_toolbox

I'm working with ros2 humble and I have my robot which I can spawn successfully on gazebo and RVIZ with the set up ready of the LIDAR and the IMU sensor. The thing is when I launch: ...
dani santana's user avatar
0 votes
1 answer
26 views

turtlebot4 nav2: how to call action navigateToPose from node in cpp

I am migrating a node that send goals to nav2 (originally move_base) thru an action since I need to know if it has been reached or cancelled by the planner. It will work with the Turtlebot4. I've been ...
joanvallve's user avatar
0 votes
1 answer
22 views

Increasing the obstacle detection range in costmap ROS2 Foxy

I am running Nav2 Foxy version in my self build navigation robot. The whole system works without any issue and now i am trying to tune some parameter in the costmap to increase the obstacle detection ...
user38130's user avatar
0 votes
1 answer
67 views

Interactive Waypoint Follower Script in Navigation2 GPS Waypoint Follower Tutorial Not Fully Working for ROS2 Galactic?

I've been working through the ROS2 Galactic Navigation2 GPS Waypoint Follower tutorial but am facing issues specifically with running the interactive waypoint follower script (Step 3 of Tutorial). My ...
Marcus Vinicius's user avatar
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0 answers
43 views

Issues with Interactive Waypoint Follower in ROS2 Galactic Navigation2 GPS Waypoint Follower Tutorial

I'm working through the ROS2 Galactic Navigation2 GPS Waypoint Follower tutorial and have encountered a couple of issues that I'm struggling to resolve. QoS Incompatibility: The GPS plugin (...
Marcus Vinicius's user avatar
0 votes
0 answers
19 views

Suggestions on Saving Poses in Nav2 to Databases

I need some suggestions on how to save poses / locations of the robot in Nav2. Is it better to use some kind of databases like sqlite or create a specific action servers to communicate with a ...
Michael Jonathan's user avatar
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0 answers
20 views

Track_unknown_space doesn't seems to enabled correctly in Global Planner and Costmap params

I have been trying to Navigate my robot in indoor as well as outdoor env. The issue is I have tested the stack with simulated Lidar in gazebo, however , I always have to move the robot at initial ...
Rakshit Soni's user avatar
0 votes
1 answer
79 views

Nav2 - How to create a custom behavior tree (BT) plugin/node in a separate ros2 package?

I'm trying to create a my own custom bt plugin. In the official tutorial https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html, I can't see an instruction or an example on how to ...
Addy Pete's user avatar
0 votes
1 answer
60 views

No map received error while following nav2 tutorial

I am following nav2 tutorial with ROS 2 Iron. The /map is published as topic but it does not show at RViz2. What should I do..?
Jieun Ko's user avatar
1 vote
1 answer
69 views

Nav2: Message Filter dropping message: frame

I'm trying to use the nav2 package, but I get the following warning when I try to run bringup_launch.py ...
Educorreia's user avatar
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0 answers
61 views

Still facing problems with global planner to generate plan in NAV2?

Planner using : Smac Hybrid A* controller: DWB, Have to test with MPPI I have two questions. First Query I am trying to setup the NAV2 stack for Ackermann robot. However, the issue I am still facing ...
Rakshit Soni's user avatar
0 votes
1 answer
46 views

What is prioritized in Nav2? bt_navigator or simple commander API?

upon reading the documentation of nav2, I've came accross bt_navigator and simple commander api. Both ways allows modification of the behavior of the robot. For example bt_navigator has FollowPath ...
Addy Pete's user avatar
0 votes
1 answer
37 views

is ROS2 Foxy still viable with Nav2?

I'm currently developing a 4 Wheel-ackerman robot that runs navigates through a cave system tunnel with a pre-loaded 2D-Map. This is a government research btw. I need to edit a behaviour tree that's ...
Addy Pete's user avatar
1 vote
1 answer
120 views

How to update robot_radius and footprint dynamically for motion planning

Hi everyone I am new to using ROS2. So I have a project in which my robot car has to attach a big box to it and then bring it to a certain location. But after attaching the box the robot car while ...
joker13's user avatar
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0 votes
2 answers
38 views

I tried to bring up the map server, but it doesn't seem to be coming up

When I try to run the Nav2 stack ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=my_map_save.yaml -p use_sim_time:=true The execution log of the ...
user37765's user avatar
1 vote
0 answers
37 views

Issue when robot tries to align with target orientation

I am using AMCL + Nav2 Stack for my custom robot to localize and navigate. When I send a target pose, the robot moves toward it properly. However, when it reaches the target position and tries to ...
jcgarciaca's user avatar
0 votes
1 answer
62 views

How to use Planner Selector in the Nav2 BT's xml file

I want to use the PlannerSelector action in Nav2 in order to use multiple planners and choose which one to use in the runtime. I modified the default behavior tree xml a little bit in order to do this,...
Stef's user avatar
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0 answers
64 views

How to visualize computed path in planner_server in Nav2 with only map_server in nav2?

my goal is to only visualize the computed path in nav2 given a pre-loaded map. How to do this without launching other uncessary nodes such as the controller server since I don't have a robot to work ...
Addy Pete's user avatar