Questions tagged [nav2]
Questions related to the ROS 2 Nav2 system (e.g. Navigation Stack)
272
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Which robot should I use in Gazebo Sim with ROS 2 Rolling and Ubuntu 24.04 for 3D navigation?
I want to experiment with several 3D navigation methods in Gazebo, but I’ve noticed that in TurtleBot 3, the RGB-D camera is optional, and code modifications are required to enable that sensor and ...
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7
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ROS 2 nav2 geotiff / geo-referenced costmap
We are working with various GNSS-based outdoor AMRs and vehicles and have recently switched to nav2 (and opennav_coverage to be precise) for navigation.
Now, I do have static global costmaps that are ...
- 1
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7
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Map odom base link transformation
Hello i am trying to use a RTK GPS device which has in built camera and an IMU sensor. The output is precised odometry data in llh, ecef, enu format after an internal sensor fusion. Is it possible to ...
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10
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can I use nav2-simple-commander in ros2 galactic
I meet trouble now.
First, I installed Ros2 foxy in ubuntu 20.04, but that nav2-simple-commander doesn't support it(foxy).
Then, I installed Ros2 Humble with Ubuntu 22.04, but I found that my lidar ...
- 1
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8
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Fixing issue with robots after upgrading packages?
After updating ros-humble version and other packages (navigation2, etc.) on the robots, they now do not respond to movement, not executing plans after setting initial pose and when also setting manual ...
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18
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Is it possible to run the costmap node alone in navigation2?
In ubuntu 22.04, ROS2 humble environment,
I'm trying to use my own path planner.
So I want to run the costmap isolated with other nav2 nodes such as controller server, planner server, behavior server ...
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23
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Planner server in GPS based navigation system for Nav2
I examined the GPS-based application of the Navigation 2 system found in this link in detail. After the application, I ran each step in detail. I actively observed mapViz, Map API plugins, etc. ...
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16
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ROS2 Nav2 Multi-Robot Simulation with shared information between robots
I want to set up a simulation with multiple identical robots which can share information between them. i.e.: current pose of the robots (so that robot 1 knows where robot 2 and 3 are) and sensor ...
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15
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Using slam_toolbox and Nav2 I get the following error: Lookup would require extrapolation into the past
Using slam_toolbox and Nav2 on ROS2 Humble I'm trying to navigate and map my Gazebo simulation environment. The launch files I use for slam_toolbox and Nav2 are online_async_launch.py and ...
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15
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Obstacle avoidance in opennav_coverage Nav2
I am working on coverage path planner using opennav_coverage for ROS2 Humble from Navigation2. Currently, when an obstacle ...
- 27
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8
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I got this error [component_container_isolated-2] [ERROR] [1725418332.608375481] [transformPoseInTargetFrame]: Failed to transform from to base_link
When I am using slam async in slam toolbox, I got this error
...
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1
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27
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What's the difference between Behavior plugin and Behavior Tree plugin?
I am a little confused about the difference between Behavior plugin (TimedBehavior) and Behavior Tree plugin (BtActionNode) as it seems some plugins are both implemented as a behavior and behavior ...
- 13
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40
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URGENT - Error Geometry Message with Newest version of Navigation2
I am using Docker containers to run the code on my robot. Recently, I had to add a package in my Dockerfile, and the image was rebuilt. I now have constantly an error on ros2 run that dissappear when ...
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42
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Nav2 Voxel Layer Costmap Issue: Path Planner Ignores Obstacles from PointCloud Data
Hello Robotics Stack Exchange community,
I'm experiencing an issue with the Nav2 voxel layer when using point cloud data to update my local costmap in ROS2. The costmap appears to be updated correctly ...
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72
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How to Restrict the SMAC Planner to Virtual Lanes Using Navigation2 in Dynamic Agricultural Environments?
Problem Description:
I am working on an autonomous navigation project for an agricultural truck that needs to move smoothly and predictably on dynamically defined virtual lanes. The navigation is ...
- 283
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1
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21
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Nav2 robot does not move (Path Planning, Ackermann Steering)
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 ...
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1
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25
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Nav2 - Conceptual: Global and local planner pipeline without Z Rotation
I'm working on a robot that can move along x/y axis (mecanum wheels) but is constrained: It cannot, at any time, rotate around it's z axis.
I'm new to nav2, but figured most of the setup out, e.g. ...
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30
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Make a robot do a sequence of actions NAV2
I'm working with ROS2 Humble and using the Nav2 stack. I'm trying to create a custom behavior tree but I'm having trouble finding a complete example to guide me through the process. Here's what I'm ...
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14
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Nav2 waypoint mode does not work in Rviz
Operating System: Ubuntu 20.04
ROS2 Version: Foxy
Problem description:
I am using Nav2 to navigate my robot in a simulation environment with Gazebo. Everything works fine. However, when I click the ...
- 1
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1
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39
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Why does Voxel Layer in nav2 params use scan and not pointcloud?
In the nav2 params file the current setup for local costmap is using voxel layer with scan and not pointcloud, but I've seen a post where it says that voxel layer uses 3D points and obstacle layer is ...
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43
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Obstacle's margin in Navigation2 costmap
I am using ROS2 humble with setup for differential drive robot of rectangular shape. I need my robot to move close to obstacles (~5 cm from the walls). I am not able to achive that with Nav2 Smac ...
- 27
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15
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Why use linear/angular acceleration instead of wheel acceleration?
I'm currently looking at the physical constraints of my robot.
Nav2 seems to support higher-level concepts such as linear and angular acceleration, which seems great for keeping human expectations in ...
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1
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16
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Empty Transformations published by Ackermann gazebo plugin (Ros2 Humble, Gazebo Classic)
I was following the Nav2 tutorial for setting up a robot which works as expected for a diff drive (the white front wheels are due to diffdrive not publishing transformation for these, that's ok):
...
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23
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How to use Nav2 with laser scanner and imu without odom
I want to use Nav2 for robot navigation. The robot that I am using is a skid-steer-tracked robot that does not provide reliable odometry data. I am trying to use the robot_localization package to get ...
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62
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How to trigger nav2 docking on turtlebot3 simulation with ROS2 Humble?
I'm trying to run nav2_docking with Turtlebot3 Simulation in Gazebo...
This is the steps which I've done so far:
I've installed navigation2, opennav_docking, turtlebot3, turtlebot3_simulation and ...
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1
answer
58
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Maneuvers on path's end point with Navigation2 Smac Lattice planner
I try to tune planner and can not get a proper behavior without the maneuver on end points. I've tried to manipulate with tolerance, penelaties and analytic expansion but could not fix that but I am ...
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1
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40
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Clearpath nav2 demos map not being published
I'm running the Clearpath nav2 demos and getting this error when running the nav2 launch file ...
- 13
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1
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135
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Behavior Tree tick rate exceeded
OS: Ubuntu Jammy (22.04) with ROS 2 Humble installed via binary
Nav2 installation: via binaries
I have been noting that whenever I send a NavigateToPose goal, I seem to get spammed on the console with ...
- 685
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11
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How to set planner_id in Simple Commander API
I hope to use Simple Commander API.
So, I read https://docs.nav2.org/commander_api/index.html#id1.
In this document, there is the following description.
getPath(start, goal, planner_id=’‘, use_start=...
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2
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25
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No goal checker was specified
I'm trying to setup Nav2 for Humble but everytime I send a goal I get the following error:
...
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1
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30
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Removed Object is not cleared from Local Costmap
I am experiencing an issue with my local_costmap not updating in Nav2. Despite configuring the local costmap to use a rolling window, the costmap does not reflect changes in the environment when ...
- 283
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19
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Custom constraints and custom cost function in mppi
I am currently working on implementing custom constraints and custom cost functions in the MPPI module of nav2. I would like to request guidance on the the same.
Objective: apply constraint on the yaw ...
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1
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34
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Footprint Collision Checker Nav2
Under Python API for FootprintCollisionChecker, I did not find much documentation on this, has anyone used this ?
setCostmap function, can this be fed from topic or getGlobalCostmap ? As I do not get ...
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8
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AMCL always setting the pose to 0.0 0.0 0.0 when recovery parameters are changed in runtime
Ubuntu: 22.04
ROS2 Humble
Using Navigation2 ,when i try to change the recovery parameters on runtime, amcl sets the initial pose to 0.0 0.0 0.0, which i dont what what should i change in the parametrs?...
0
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1
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18
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Rotation in narrow corridors with Navigation2
I am configuring my nav2 stack setup for cleaning robot. Since it's a differential drive robot and it has rectangular shape I am using SmacPlannerLattice (in ROS2 Humble) regarding to the ...
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2
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34
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How to achieve High velocity in nav2
I want to achieve a high speed of 10 m/s for my robot using ROS2 Humble with Nav2. Currently, I'm using NavFn as the global planner and DWB as the local planner. How can I adjust these planners to ...
0
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1
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48
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Ros2 Nav2 issues : Robot not able to autonomously follow path correctly
I am trying to develop a robot and firstly I wanted to implement the nav2 stack in it. Its a custom designed robot and everything is working fine untill I run the autonomous navigation. In that I am ...
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1
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30
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0
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33
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Issue with smac planner going crazy at goal reaching
I'm getting an issue with SmacPlannerLattice, almost everytime I give the planner a destination. It calculates a well feasible path but when my robot is reaching the goal the planner goes crazy and ...
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1
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96
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Collision Monitor in Nav2 Not Working Properly: Polygons Not Displayed or Followed Correctly in RViz2
I am trying to reproduce this tutorial (binaries-source installation ubuntu 22.04):
demo-execution collision monitor nav121
I'm experiencing a strange issue with the collision_monitor node in the ...
- 283
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72
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Nav2 waitng for transform from base_link to odom to become available
I am trying to run Nav2 together with mapping by slam_toolbox. I'm using a raspberry pi 4 to connect my hardware, it's running ROS2 humble and ubuntu server 22.04, everything runs on the raspberry ...
- 3
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8
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nav2 fluctuating cmd_vel
I am using nav2 with a physical robot, and every once in a while it gets stuck in place where the theta velocity is fluctuating near 0:
...
1
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1
answer
73
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Confusion about MPPI Path Angle Critic
Required Info:
Branch: main
Commit: 5a8cbd3
Description:
We are considering use of the PathAngleCritic to align the angle of the robot with the orientation information produced by kinematically ...
- 11
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18
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AMCL localization transform stability issues
Bug report
Required Info:
Operating System:
Ubuntu 22.04
ROS2 Version:
Humble binaries
Version or commit hash:
ros-humble-navigation2 1.1.14-1jammy.20240518.064247
DDS implementation:
Fast-...
- 11
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1
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31
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Behavior-Tree navigator not recognizing a basic condition node
I followed the BT Plugin tutorial (https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html)
in order to create this simple C++ BT Condition Node:
...
- 11
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20
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Ros2 control with nav2 problem
I am using ros2 control to drive a four wheel robot every thing is working well when i move it using teleop keyboard aline but when i am using slam toolbox to generate a map or even used a previously ...
0
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1
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20
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Return a result using Nav2 Behavior
I am trying to write a behaviour plugin which using Timed Behaviour. The behaviour does some calculations and the return a result, which has to be written to the blackboard of the bt_navigator. Is ...
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30
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Amcl failure with nav2 tutorial
I've been messing around with nav2 lately and i tried some of the tutorials (more specificaly https://docs.nav2.org/tutorials/docs/navigation2_on_real_turtlebot3.html). It's a straight up tutorial and ...
- 11
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2
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39
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using action client and subscriber in the same script
I am using the nav2 api which calls for me to create a node and not use rclpy.spin() on it, because inside some of their ...
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33
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Rotation Shim Controller is not triggered
I'm using Nav2 on Ros2 Humble to control my differential robot.
The controller I use is Rotation Shim Controller and DWB Controller. The problem is that the Rotation Shim Controller is not triggered ...
