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
4,518
questions
0
votes
0
answers
10
views
Global Path not appearing in rviz
Hello I been trying using my own global planner as a plugin and I think my planner worked but the path is not appearing in rviz.So I tried searching problems in the Internet and I was not sure what's ...
- 1
0
votes
0
answers
49
views
Localization problem of my robot in RVİZ environment at first run
I am doing research for the first positioning for my robot to be done correctly on the map. I have done various researches and applications (such as amcl, ICP) for these and I am still continuing. But ...
0
votes
1
answer
21
views
Got Pi5 w PiOS Bookworm, Want ROS 2 Humble Desktop Docker with Nav2 and more
I have a working ROS 2 Humble robot (Raspberry Pi4 based GoPiGo3 robot running Ubuntu 22.04) that runs nav2 async mapping, localization, and navigation at close to 100% load.
I just acquired a ...
0
votes
0
answers
21
views
Need MPPI Tuning help: Omni robot not following pure omni motion
My setup is:
MPPI code ported to ROS Noetic and have a custom Omni
robot.
Overall code is running at 50 hz but MPPI is significantly slower and running at average of 1 hz, so model_dt is set to 0.09.
...
0
votes
1
answer
35
views
NAV 2 - Human following with stereo camera
I try to implement human following behavior using NAV 2 with a differential drive controller, non-holonomic robot. My robot must be able to keep up even at higher speeds (human moving at 3m/s for ...
0
votes
0
answers
16
views
How can I disable the local planner?
I want to make my robot stop avoiding dynamic obstacles, want it to stop in front of them and wait until the path is clear. I came across this post: how-to-disable-obstacle-avoidance-on-dwa-planner. ...
0
votes
2
answers
22
views
Packages for turtelbot2
i am new to ROS world and i have to find ROS1 and ROS2 packages for turtelbot2 and compare them (what changed from ROS1 to ROS2), what are those Packages and where can I find them?
- 1
0
votes
0
answers
14
views
Nav2 Behaviour Tree dies with custom planner (ROSIDLCPP_StringValueType error)
I am using Nav2 to build a custom planner based on a path of GPS coordinates which are transformed into cartesian coordinates. When I start the navigation stack and send my GPS points via a service ...
- 1
0
votes
0
answers
9
views
Nav2 Behavior Tree: cancelControl BTnode doesnt preempt/stop controller
I'm looking to have a behavior tree in ROS2 humble that:
Works with the navigateThroughPoses navigator plugin of bt_navigator.
...
- 1
0
votes
0
answers
39
views
Smoother not working with NavThroughPoses (ros2 humble)
I have the following behavior tree:
...
0
votes
1
answer
48
views
Nav 2 - Max speed blocked way under the max vel specified
I'm working with Gazebo and run into an issue with Nav 2. I would like to increase the max speed but I'm not able to do so. It seems the speed is stuck to a maximum of 2m/s while my configuration is ...
0
votes
1
answer
36
views
how to do custom path planning for autonomous navigation in ROS?
my autonomous navigation can work on my current map , but now i want to do a simple custom path planning together with some actions , such as ,
-taking a snapshot using the camera
-stopping
-turning ...
0
votes
1
answer
26
views
Hope to disable collision between Robot model and object model While the Lidar could still detect the Object in Gazebo
Right now I have added this code to the collision element of the Object model sdf file, which allows the robot could go through the object very very slowly. Is there a way to make the robot have no ...
0
votes
0
answers
27
views
GPS integration to ROS via Arduino
Please I have some problems with this.
I am a beginner.
I want to send GPS data from a GPS connected via arduino to ROS.
My code arduino is as below:
...
0
votes
1
answer
26
views
Preempt global planner or give higher priority to FollowPath server
I have created a c++ executable whose purpose is to generate Poses based on the coordinates provided by the user. More specifically, the user provides a number of points in cartesian coordinates (e.g.,...
0
votes
0
answers
19
views
A racecar using amcl for navigation doesn't follow the path calculated by teb_local_planner as expected
My racecar is controlled by ROS, and I am trying to make it work using AMCL for navigation. I set a goal to it. In the begining, it was working fine as expected, but soon it crashed into an obstacle ...
- 1
0
votes
0
answers
48
views
how to add a TF for odom --> base_link?
I'm trying to do amcl and currently my map is not working and found the solution, which is the odom --> base_link TF currently not found, how do I create a odom --> base_link TF?
Currently ...
- 1
0
votes
0
answers
21
views
Map-base-odom relationship for external localizator
I am using an external positioning device, and the device sends the vehicle's location data to ROS via UDP while also performing TF transformations. I provide the map frame as the "parent frame&...
- 3
0
votes
1
answer
48
views
ROS navigation to obstacle
When the goal point is designated as an obstacle area, the global planner cannot navigate.
Can you make the Global Planner move as close to the obstacle area as possible?
https://wiki.ros.org/...
0
votes
0
answers
26
views
explore_lite targets places that cannot be moved
https://youtu.be/2WH144VZezA
As shown in the video, explore_lite targets a place that cannot be moved, and teb_local_planner stops moving.
I want to aim far away from walls and avoiding obstacle areas....
0
votes
0
answers
19
views
How can I create a path for the robot to go along the wall during autonomous navigation?
I am developing a robot using ROS (Robot Operating System). The goal is to enable the robot to navigate a closed environment, approaching all walls to scan the surroundings. I have a map of the ...
0
votes
2
answers
30
views
Smoother both in global planner and independent
I was wondering what is the reasoning behind having both a smoother server (e.g., a constrained smoother) and defining a smoother in the planner server. Shouldn't ...
0
votes
0
answers
9
views
How to make global costmap larger in slam_karto: goal sent to the navfn planner is off the global costmap
I am trying to send a 2D nav goal to the navigation stack of my turtlebot3, which is running slam_karto. The problem is that the global costmap is taken to be the map topic. The map topic's occupancy ...
0
votes
1
answer
38
views
Transform failed during publishing of map_odom transform
i am trying publish tf and odom. my problem is that i always get this error:
...
- 1
0
votes
2
answers
27
views
How to use UWB sensor for localization instead of nav2_amcl?
My project application scenario is in a large warehouse.
I do not have any Lidar devices, and I don't want to use any Lidars (Because the expensive price). But I have a few of UWB sensors (including ...
0
votes
1
answer
50
views
Nav2 Robot Cant Create Valid Plan
I use dwb local planner and Smac2d Global Planner, ı have this error when give nav2 goal and robot starts recovery always.
Can you help me, which parameters related with this.
https://drive.google.com/...
0
votes
1
answer
32
views
Understanding how different companies interpret VDA5050 standards and how is this resolved
I've been researching the VDA5050 standard, particularly in the context of robotic intercommunication for AMRs and AGVs, as part of a college project. I have a background in grid navigation-based AGVs ...
0
votes
1
answer
28
views
Using own bt_navigator in Humble
Hello ROS 2 Navigators,
I am working in ROS 2 Humble Nav2 stack, There's a tutorial in Nav2 for Writing a New Navigator plugin but I can't find navigators parameter in the Nav2 Humble Version, I want ...
- 5
0
votes
1
answer
23
views
Limiting the Width and Height of the Global Costmap in NAV2
I'm currently working on a robot project using the NAV2 package of the ROS Navigation Stack. Since my map is large and the computational resources on my system are limited, I want to limit the global ...
0
votes
0
answers
28
views
ROS1 working with map_server/change_map
I am currently working on my bachelor's thesis involving changing the map of a robot working in a multi-floor environment.
Right now, I want to change the current map published to /map topic. I ...
- 1
0
votes
0
answers
28
views
My Robot is Having Trouble Sharp Turn and Narrow Corridor
https://youtu.be/-bgO7hgdRD4
https://www.youtube.com/watch?v=hppDQvYpovI
Hi everyone, ı build a robot which is rectangular shape 42cmx23cm, ı get into the 40cm narrow corridors and robots can get into ...
0
votes
0
answers
24
views
Timed out waiting for transform from base_link to map to become available before running costmap
I'm trying to create the costmap2dROS object using tf2 transform listener, but I always get the same error, I think it may be caused by the namespace, since I only have "robot_map" and "...
- 1
0
votes
1
answer
48
views
ROS1 or ROS2? in Autonomous Navigation
I am starting my thesis in Autonomous Navigation as a Mobile Robotics project, i am new to ROS and i need some advice on which one to choose between ROS1 or ROS2 to successful finish my thesis, and ...
0
votes
0
answers
20
views
obstacles are not detected in local costmap/ Map is not updating at all
So i am using a pre-build map in which i am trying to navigate a real robot. I've watched the tutorials in ROS-Wiki on how to configure plugin layers/ general parameters etc.
Basically nothing works ...
- 5
0
votes
3
answers
52
views
How to make the Navigation Stack global Path not update?
I am currently using the navigation stack to move around the robots in the map I created, in gazebo. I would like to apply my own algorithm for the update of the path. But in order this to happen, the ...
- 21
0
votes
1
answer
21
views
Navigation odometry and velocities published
So why do I have to calculate the VX and VTH for odometry when move base from navigation stack actually publishes the velocities for my robot ... i don't get that can someone plz explain.
...
- 5
0
votes
0
answers
16
views
Question about simulating a robot using Stageros
I am new to ROS.
I am using Navigation Stack on Stageros to control a robot. I have a problem with the behavior of the robot when it moves to avoid obstacles in the direction of travel, and I need ...
- 1
0
votes
1
answer
57
views
Should global costmap have an obstacle layer?
I recently started using the NAV2 stack and I am still trying to understand basic concepts. As I understand it, obstacle avoidance and therefore local path re-planning should be done by the controller ...
0
votes
1
answer
81
views
Nav2 DWB local planner over-correcting at goal
I have a differential drive robot application that requires a relatively tight xy_goal_tolerance of 3-4 cm. Usually if the goal heading is close to the robot's ...
- 121
0
votes
1
answer
102
views
Jagged path created by planner
Edit 3: I consistently notice that when setting the value of w_smooth to 4 or more the planner server crashes (see Edit 2 on bottom of page).
I have a question ...
0
votes
1
answer
48
views
How to disable obstacle avoidance on DWA Planner?
I am using DWA Planner on ROS Noetic for my navigation. It works perfectly. However, I want to change it's behavior. Instead of avoiding an obstacle, I want my robot to wait until the obstacle gets ...
1
vote
1
answer
132
views
Intel RealSense with ROS 2
I am just getting started with Intel Real Sense integration with ROS2. When trying to install Intel real sense packages in ROS 2 Humble, the official documentation says the supported kernel version of ...
- 13
0
votes
1
answer
70
views
Inflation Layer doesn't seem to be working in local costmap specifically
I am trying to set up the nav2 parameter yaml file for my robot. The code I wrote for the costmaps can be seen here:
...
0
votes
2
answers
64
views
Need advice on implementing ROS2 knowledge in a hardware-based autonomous robot project for navigation and object manipulation
I'm new to ROS2 and looking for guidance on implementing my knowledge in a project. I've learned concepts like publisher-subscriber, services, TF, URDF, RViz, Gazebo, and Navigation2. Now, I want to ...
0
votes
0
answers
27
views
Navigator crash while using with Keepout filter
On a ROS2 humble robot running on a RPI4, when using navigator with keepout filters, it stops working after a while. On the console we get a complaint about not receiving a heartbeat from navigator, ...
3
votes
0
answers
71
views
Converting IMU random walk, bias instability to stddev, bias stddev, etc
I am trying to create an accurate IMU model in Gazebo based off of a real IMU that I am using.
The Gyro specs are:
Bias instability: 3.5 degrees/hr
Angular random walk: 0.1 degrees/sqrt(hr)
The ...
- 33
0
votes
2
answers
112
views
ekf_node doesn't work when use_sim_time is set to True
I have ROS2/Python/Gazebo project, and I use robot localization like this:
...
- 239
0
votes
0
answers
55
views
Child Robot not following parent in RViz
I'm in a 2D environment in C++/ROS and I have two Robots with only Translational/Rotational velocity. They move only on the X axis and rotate on the X axis. The configuration follows this scheme:
...
5
votes
1
answer
152
views
navigation on rugged terrain
I use ROS2/Python/Gazebo.
I need navigation (and mapping) for a tractor on a hill: a rugged surface, so to speak.
I can of course project everything on a flat map, but distances will shrink and I ...
- 239
1
vote
1
answer
55
views
Can TEB or Other Local Planners Work Without move_base?
I am working on path planning and path tracking for a while and I wonder, can TEB local planner (or any other local planner on ROS, DWA lets say) function without move_base?
I mean do I have to use ...
