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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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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 ...
Antoine Van Malleghem's user avatar
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1 answer
148 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 the ...
arquitecto's user avatar
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1 answer
191 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 ...
Ruiji Liu's user avatar
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156 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: ...
Temilolorun Aiyelari's user avatar
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1 answer
41 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.,...
Pantelis Manouselis's user avatar
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27 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 ...
Mickey's user avatar
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109 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 ...
nolan's user avatar
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26 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&...
aoz_rob's user avatar
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1 answer
65 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/...
MobileRobotics's user avatar
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32 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....
MobileRobotics's user avatar
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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 ...
Hüseyin Kılıç's user avatar
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2 answers
48 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 ...
Pantelis Manouselis's user avatar
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0 answers
15 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 ...
hunterlineage's user avatar
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1 answer
130 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: ...
Khoi's user avatar
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2 answers
160 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 ...
John Tito's user avatar
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1 answer
181 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/...
samet_elmaci's user avatar
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1 answer
82 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 ...
Jacob Sanoj's user avatar
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1 answer
125 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 ...
Vignesh's user avatar
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1 answer
96 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 ...
samet_elmaci's user avatar
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0 answers
74 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 ...
Konopes's user avatar
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67 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 ...
samet_elmaci's user avatar
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92 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 "...
MF Boom's user avatar
0 votes
1 answer
115 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 ...
i_smel_snow's user avatar
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0 answers
84 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 ...
kostas T's user avatar
0 votes
3 answers
89 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 ...
Michalis's user avatar
0 votes
1 answer
24 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. ...
kostas T's user avatar
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 ...
denchi's user avatar
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0 votes
1 answer
348 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 ...
Pantelis Manouselis's user avatar
0 votes
1 answer
289 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 ...
indigoblue's user avatar
0 votes
1 answer
174 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 ...
Pantelis Manouselis's user avatar
0 votes
1 answer
148 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 ...
MarkCuck334's user avatar
1 vote
1 answer
711 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 ...
Ajay Adit J 's user avatar
0 votes
1 answer
365 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: ...
Pantelis Manouselis's user avatar
0 votes
2 answers
118 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 ...
Adyansh Gupta's user avatar
0 votes
0 answers
53 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, ...
Can Altineller's user avatar
3 votes
1 answer
437 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 ...
zz uu's user avatar
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0 votes
2 answers
267 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: ...
Steve Brown's user avatar
0 votes
0 answers
57 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: ...
SlimShadys's user avatar
5 votes
1 answer
418 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 ...
Steve Brown's user avatar
1 vote
1 answer
113 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 ...
Alperen Keser's user avatar
0 votes
1 answer
109 views

Gazebo-Turtlebot turning by itself, cmd_vel topic is zero

I am using Noetic.I am simulating a multirobot navigation system with 4 turtlebots, I am using the navigation stack and Rviz. The problems begin when the goals of robots are reached. Sometimes one or ...
Michalis's user avatar
-1 votes
1 answer
3k views

ROS2 Humble, 3D Lidar, LIO-SAM slam and nav2: how to make it work together with global map?

This is my very first question in this community. So, I'm a bit stuck. Given data: I got akkerman mode robot with 3D Lidar, 9-Axis IMU + GNSS, ROS2 Humble, Nav2 stack. After a while, achieved LIO-SAM ...
whiteagle's user avatar
0 votes
1 answer
101 views

Rviz Amcl spreading over time when stayin still

I am trying Multirobot navigation with the navigation_stack and the Rviz, in ros noetic. When i publish the amcl when starting, the spread looks normal. Then i publish a goal, the robot moves and the ...
Michalis's user avatar
0 votes
2 answers
204 views

Navigation2 - Goal Status message in ROS2 humble

I am using the ROS2 Humble Navigation2 package and want to check if the robot reached the goal position (or it reached the xy_goal_tolerance zone). I know there is a GoalStatus message in ROS2 foxy ...
kenloumixx's user avatar
0 votes
1 answer
108 views

nav2 behavior tree condition plugin get parameters from yaml

ROS_DISTRO:Humble Package: nav2_behavior_tree Description I am developing my own behavior tree condition plugin (inside nav2_behavior_tree package). I have defined the input port: max_heading_error. ...
Saul Cova-Rocamora's user avatar
0 votes
2 answers
553 views

cannot launch node of type [gmapping/slam_gmapping]: Cannot locate node of type [slam_gmapping] in package [gmapping]

...
kostas T's user avatar
0 votes
1 answer
58 views

UM7 Orientation Sensor IMU not Publishing at 255 Hz. It is around 20-45 Hz, How to fix?

I really want to ask you about the UM7 Orientation Sensor we purchased. We want so much to use the UM7 in our research. As it is mentioned on the Pololu website, the IMU transmits data using human-...
Matthew Lisondra's user avatar
1 vote
0 answers
95 views

Navigation2 - robot stops before target pose while the controller server message 'Passing new path to controller.'

I am using navigation2 humble, and the robot stops before the target pose. I set the xy_goal_tolerance to 0.0, 0.25(default values) but it never says 'Reached the goal'. In specific, when the robot ...
kenloumixx's user avatar
1 vote
1 answer
286 views

Isaac ROS Nvblox Costmap Plugin For Nav2 Implementation Problems

I'm trying to use the Isaac Ros Nvblox package with a Realsense D455 depth camera to create a costmap for Nav2. Everything on the Nvblox side works, but I'm a little confused on how to use their ...
Braden Wagstaff's user avatar
0 votes
0 answers
78 views

Configuring Nav2 for Ardupilot

I would like to use nav2 with Ardupilot, but I'm facing the following behaviour: The costmaps are not being published correctly and, because of that, the copter isn'...
pedro-fuoco's user avatar

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