Questions tagged [navfn]

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Failed to create a plan from potential when a legal potential was found. This shouldn't happen

I am trying to run navigation with slam on a custom world. I am using the standard nav2fn planner. I first tried running it on my own urdf robot model. That didn't work so I tried using the turtle bot ...
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How to get the plan the robot will exactly follow

I am using ROS Navigation stack on a robot & I want to access the exact plan the robot will follow. I know the ~/plan topic publishes the plan but the description of the same topic (in the same ...
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How to avoid planner jumping between 2 possible path

Hi everyone, recently I'm using Navigation2 release 1.1.0 with Galactic built from source in Ubuntu18.04. I'm using Smac 2D Planner and TEB controller in my navigation stack, they are run in 10Hz. The ...
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Make global path update correctly when it is invalid

/** * Segment 1: If global path is invalid, update the global path **/ ...
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Navigation path planning over long distances

I'm having an issue with move_base and/or Navfn whereby the control system can't plan a path for anything over a certain distance. The path planning (and following) works fine for short nav goals: ...
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Global plan breaks in the middle

I'm using navigation forked from tag 1.16.3. I specified a goal in a large room and tried to create a global plan. The global plan does not extend from the goal to the robot's position, and the robot ...
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Why does NavFn return a path that doesn't start from the robot location?

The path is the cyan line, and the robot is in the lower right corner. As you can see, the path doesn't start from where the robot is, resulting in move_base aborting the goal. The map isn't that big (...
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How to use the DWB local planner

Dear all, I was wondering if you can help me to find out how to use the DWB_local_planner in move_base. I have already installed all the packages in the This. You can find the part of the launcher ...
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navfn compile error

Hello , for writing my own global planner, i cloned source of navigation stack git clone https://github.com/ros-planning/navigation.git i copied navfn package to my own workspace and built with ...
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Change of path planners

Hi, I'm new to ROS, and I'm having trouble changing the default path planner to some other on my project. The project currently uses the navfn planner, but I was ...
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Why does the navfn plan a path through a wall

Hi,all, we are using navfn in move_base to plan a global path for a robot. For now, the experiments are being done in a simulated environment by gazebo. However, we found that if the robot is close to ...
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Robot moves forward only

Hi everyone, Robot goes into narrow place but it can't go back to first position. It is trying to escape with moving a bit backward (then forward) infinitely at corridor's end. How can I make it ...
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Navigation Stack: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty

Hi, I am trying to get the navigation stack working. I am publishing odometry data, tf data and laser scan to Navigation stack. But I get "Invalid argument passed to canTransform argument ...
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allow_unknown parameter ignored

Hi there, I want to avoid the global planner to plan its paths through the unknown because it is not working for my case. So as described here I set the paramter allow_unknown to false. So I created a ...
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1 answer
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local_path not showing in rviz while robot navigates

Hi Folks, I'm trying to show the local path when my robot is navigating, but the path only shows for about 1/4 of a second, disappears for about 10 seconds, then repeats. I know I am subscribing to ...
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2 answers
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How does Dijkstra's algorithms work inside navfn?

Hi, I have gone through this and this as well . Can someone explain how the global path planner works in details? EDIT: According to your suggestion, I have visited NavfnROS and navfn. In navfn_ros....
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Issues related to navfn and global_planner plugin

Hi, I am using ROS fuerte. I have gone through the navfn . I want a ROS plugin for my own global planner I have Visited this page. I have following doubts: I want to my own global path planner to ...
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NavFn setting up cost array (costarr) from ROS's costmap

Hi, The NavFn planner takes in ROS's costmap created by costmap_2d package. The input is in the format mentioned here. Now, when ...
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Global Planner Parameters in Navigation

Hello, I was wondering what the parameters below are exactly doing in the global planner (Reference Tutorial). The description is not very clear to me. I tried different values for the parameters in ...
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global path planner pass through high cost area on local cost map

hi, all, the global path planner on my robot NavfnROS always produces plans that pass through dark area on local cost map. and whenever it does so, the robot refuses to move. I guess it's because ...
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global path effect on local planning

hi everyone I am interseted in pathplanning and i try to build my robot. As i understood, we can use navfn package for global pathplanning which means a path from the current robot state to the goal ...
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navfn planning through wall

I am trying navigation_stage package in Hydro, ubuntu 12.04. I am using move_base_multi_robot.lauch. But navfn is planning through the walls. The map used in willow map which have small openinings. ...
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Best way to send a goal with move_base that is off the global costmap?

Hi Guys, Using Hydro's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 1000 meters away from the robots current position, if not more. The local ...
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1 answer
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How to correctly include navfn/navfn_ros.h?

Hello , I have been trying to get the exploration stack working on hydro ( catkin ) and for the most part it works, but whenever I try to include the navfn/navfn_ros.h in my header file as show on ...
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Tracking robot position during teleoperation

Hi, I want to track robot's current position when it is moved by teleop( which we can view in rviz window as well) ROS automatic behavior also need to perform similar kind of stuff during goal ...
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1 answer
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prunePlan() takes occasionally over 40 seconds!

Hi, I am wondering how it is possible that prunePlan takes occasionally over 40 seconds? I can't find anything in there that causes this long computation. It's hard to debug because it doesn't occur ...
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1 answer
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navfn_ros.h uses wrong include directories?

I just wanted to use the wrapper navfn::NavfnROS for a navfn::NavFn object and I can't compile because the include paths in this ...
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1 answer
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Navigation for a Humanoid robot

Hello, after being quite a bit confused on how to navigate my biped robot in an partly unknown environment (I do have a floorplan, but do not know where obstacles are), I want to share my thoughts and ...
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1 answer
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Navfn - Potential Field Calculation

I would like to use Navfn to let a robot follow a wall at a close distance. More precisely, I want Navfn to plan a path parallel to the wall at a given distance. However, with the current ...
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1 answer
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navfn stability

Hi. I encountered with the problem that global_planner in navfn package makes invalid plans. It means that they go through walls on a map like on this picture. There is ROS Electric on board. Cannot ...
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1 answer
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how to make the robot rotate towards the path direction

Hello, I have set up the Navigation stack on a Neato xv-11 with an Asus xtion pro live mounted on it (the neato lidar is dead, sadly). slam (amcl) is functioning correctly, the planner (...
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How to get information from the navfn planner execution

Hi everybody! I'm working on a A.I. project and I need to know how to obtain information from the navfn global planner during execution. In more details, what should I do in order to call the methods ...
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Move base global planners switching

Hi, After reading http://answers.ros.org/question/9888/switching-global-planner/ I've got some questions regarding the issue of switching global planner. As I can understand the global planner is a ...
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navfn and carrot planner?

Hi, I'm new to ROS and from past 5 days I'm trying create a launcher for navfn and carrot_planner. Can someone please help either by giving a step by step procedure or mail me the launcher if you have ...
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Navfn strange Behaviour

Hi, I'm tunning the navigation stack for my robot, but nafvn is displaying a strange behaviour, sometimes it cannot plan when in narrow places. Here are some screenshoots In this case the navfn ...
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3 answers
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what is the best way to follow a moving target?

Hi there! I am trying to make my robot to follow a moving target, using move_base. However, so far my results are very bad. If I use move_base default global planner, and even if the target moves very ...
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3 answers
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Why navfn is using Dijkstra?

As an algorithm learner, I'm just curious about why navfn was is first equipped with dijkstra search algorith. The answer at ...
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switching global planner

Hi, In nav_core default global planner is navfn, but I want to change it to carrot planner or something else (in future it will be my global planner). What I have to change and where? Originally ...
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ROS Answers SE migration: navfn algorism

Hi! I am using the navfn. The algorithm works perfectly for me, but I would like to know whether there is any documentation about how it works. And I'd like to understand the quadratic approximation. ...
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what is the reasoning behind current architecture of navigation stack (move_base), the way it is?

i was looking at how move_base and navigation stack works. somethings seems weird to me. nav_core package has BaseGlobalPlanner and BaseLocalPlanner interfaces, which is like general programming ...
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how to get a copy of global costmap from move_base

i am writing a package which needs to use global costmap for its calculations. this package does not implement BaseGlobalPlanner, because it is not the task of the package. the global costmap is ...
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Navigational Timeout When obstacle is in front

Hello! I just have one quick question. Let me start out with an example: I have a turtlebot type robot that is navigating a office space. During office hours, there are a lot of people standing in the ...
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2 answers
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switching global planner

Hi, I want to set up a system in which I can navigate using different global planners depending on the occasion. I was plannig to use the simpler carrot planner for a reactive navigation (following a ...
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1 answer
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Navigation stack in 3D

Is the ff. possible on the navigation stack: Instead of going left or right when an obstacle in front is detected, it just stops and uses the vertical(z) space to move. Is it possible to modify it ...
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