Questions tagged [navigation]
Navigation is a field of study that focuses on the process of monitoring and controlling the movement of a craft or vehicle from one place to another. Robot navigation includes exploration, mapping, localization, path planning and path execution
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Issue while doing actions for Ros2 using ROSLIBJS . Getting NonexistentFieldException
I am using this version of roslib [npm version]
"roslib": "github:RobotWebTools/roslibjs#ros2-actions-no-typescript"
I am using ros2 classes only provided from ros2-actionclient ...
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Can RTK GPS Be Used in Webots Simulation?
Is it possible to use Real-Time Kinematic (RTK) GPS in Webots simulation? I need to implement RTK GPS in Webots as per my supervisor's requirements. From what I’ve gathered, Webots appears to support ...
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ROS2 Jazzy TF2 delay causing docking pathing issues
I am currently working on a mobile robot using ROS2 Jazzy with the Navigation2 docking server, along with Ros_ArUco_Opencv for ARTag pose recognition. I am seeing a delay between movement of the ARTag ...
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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 ...
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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 ...
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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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what controller rate in ros2_control is considered as continuous?
I need to move a 4 wheel cart from one position(p1(x1, y1)) to other(p2(x2, y2) in t seconds. I calculate x and y speed as follows using speed = distance/time:
<...
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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 ...
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Autonous Navigation using Custom Robot with Rtabmap and depthai camera
I am using ROS 1 Noetic. and I have all the basic setup for navigation using this tutorial "http://wiki.ros.org/navigation/Tutorials/RobotSetup"
but i am still not get the exact solution.
I ...
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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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Ros2 Slam_Toolbox Issues with saved map corruption when in localization mode
I am running slam_toolbox along with the nav2 stack on ROS2 Jazzy. Currently, when I boot up my nodes with slam_toolbox in the localization mode, everything loads fine, until the first "...
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Using the Clearpath Jackal packages for autonomous navigation ROS Humble
I've been trying to understand how to use the jackal and jackal_simulator repos to implement autonomous navigation (via a behavior tree).
I'm able to launch the gazebo simulation and control the robot ...
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Publishing / Correcting map -> base_link transform based off detected landmark
I am developing a mobile robot using slam_toolbox and the nav2 stack. As a part of nav2, I have created a dock for the robot, using Apriltags to localize the robot wrt the dock. Since I know the exact ...
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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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Change global and local planners on distance to goal via behavior tree
When the robot approaches a charging station (certain distance to goal), I'd like to change global and/or local planners.
One way could definitely be for the local planner to just deal with it ...
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Odometry is not initialized with robot's pose in simulation
We are transitioning from gazebo classic to ignition (gz harmonic + ros2 humble). We found that the odometry value is not initialized with the initial robot's pose in the simulated world. Odometry is ...
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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 ...
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ROS2 Navg Issue Help
ROS distro Humble
Ubuntu 22.04
Navigation (SLAM, Nav2 etc.)
Expected behaviour
Hi, I'm using ROS 2 Humble and I'm mapping with the Slamtec S2 Lidar. I want to use a path in the map I generated, but ...
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Navigation break through the wall
I'm using Yahboom rosmaster x3 and when I navigation my robot go break through the wall but real robot actually fine
https://youtube.com/shorts/Q_RixS36mzI?si=TtUXcPVYahAJSvGe
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ROS navigation map and pose
I'm trying to do navigation in ROS, but when I run navigation, the data drawn by lidar scan is not erased and remains and gets lumped together. Also, if you try to specify the initial coordinates with ...
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ROS navigation RobotModel Status:Error
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I'm trying to do navigation in ROS, when i run navigation there are several errors like No transform from base_scan to map. Other errors are all about transform to map. when i checked the tf tree, ...
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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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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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Navigation no map and odom
I'm trying to do navigation in Ros, but when I run the navigation launch file with the map obtained through slam, it doesn't work properly. When I check the tf tree, the map and odom do not exist as ...
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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 ...
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Robot model going to the opposite direction in RVIZ when navigating
This only sometimes and my solution for this is to restart my robot state publisher or bring_up. Sometimes it it accurate and sometimes it is not. Attached is the video for this problem. Thanks!
https:...
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Object Tracking within a room
I've been given a research task at work that I'm getting a lot of conflicted answers on. Our requirement is to track a set of objects' (10 or so of them) locations in a room, not bigger than 30 feet ...
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ROS Robot turning left and right when I give it a goal in RViz
I am working in ROS Kinetic on a four-wheeled robot. I'm trying to get the robot to move toward a goal. In RViz, path planning is fine as it draws the intended path for the robot to reach the goal. ...
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PointCloud2 Data Not Being Used as Obstacles in Obstacle Layer
I am having issues adding PointCloud data to the costmap as obstacles. The data is coming from a /marker_to_pointcloud topic that takes ...
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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 ...
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GPS navigation custom implementation works well when world is centered at zero lat long but fails when spawned at different co-ordinate
I made my GPS navigation package that takes in GPS , IMU readings, calculates the required bearing, current heading and commands the robot to move to a defined goal.
To find out the initial direction ...
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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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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 ...
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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 ...
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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 ...
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Local Costmap is not receiving map in "Odom global frame" while using AMCL and GMapping in SLAM
I am implementing SLAM using the AMCL (Adaptive Monte Carlo Localization) and GMapping packages in ROS. While the map is successfully displayed on the Global Costmap, it does not appear on the Local ...
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How do I use twist mux cmd vel out for the robot motion
Twist_mux not working
I am using twist mux to switch between two cmd_vel, one is from a node that publishes twist x 0 whenever a blue box is detected through camera called /cmd_vel_tracker and another ...
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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 ...
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Bias Omni Navigation Towards Forward Movement
I am working on an omnidirectional robot using ROS2 and NAV2 BT navigator stack. I have managed to get the lattice planner working and have full omni directional movement. I was wondering if there was ...
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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. ...
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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 ...
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SLAM_TOOLBOX , topic /map is empty
I’m attempting to run the slam_toolbox. My setup includes ROS2 Humble, Raspberry Pi 4, and RPLIDAR A1.
Previously, I encountered an issue with a terminal message like:
[async_slam_toolbox_node-1] [...
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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
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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 ...
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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. ...
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Laser Scan rotates with robot
Required Info:
Operating System: Ubuntu 22.04 LTS
ROS2 Version: ROS2 Humble
The LaserScan rotating with robot when I use teleop_twist_keyboard to manually rotate the robot. I am using the rplidar_ros ...
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Alternative to hardware interface
I am new to ROS2 but I am trying to create an alternative to a hardware interface for my robot.
I have a diff drive vehicle. The main ROS program will run on an Ubuntu PC. The controller on the ...
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how to let ROS know my robot is front wheel diff drive?
the robot is ros controlled but the problem is that, it has wheels in front and caster at back, so when it turns around its axis, when near the wall it collides with the wall, we are using trajectory ...
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Have the navigation.ros.org site being relocated?
I'm referencing to https://navigation.ros.org for the navigation document.
But, I cannot access the site, since May 9th.
Please, let me know.
Thank you.
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ROS How do I make the local planner as straight as possible
I am currently using ROS Melodic and the move_base package for navigation. I am utilizing the A* global planner and DWA local planner and would like the vehicle to follow a path passing through ...
