4
votes
Accepted
ROS2 AMCL vs robot_localization
robot_localization is somewhat poorly named - at this point it is mostly an Extended Kalman Filter (EKF), usually it is used to merge multiple sources of odometry information (most commonly, IMU and ...
- 6,037
4
votes
Accepted
Autonomous Mapping help!
I think there is a bit of misconception with what SLAM does, just remember that SLAM stands for; Simultaneous Localization and Mapping, what you want is to explore the map (autonomously of course) so ...
- 76
3
votes
Accepted
ROS1 dependency in nav2 tutorial?
gazebo_ros is still used in ROS2. The source code is available here : gazebo_ros ros2 branch
...
3
votes
ROS2 Map not received when using nav2_bringup
The nav2 map server is the one that puts the map into the /map topic, the map is published once during launch and not continuously published. If you would like to see the map again you could use the ...
- 118
3
votes
Accepted
nav2-smac-planner package not available on foxy
Posted the same question on github and Steve Macenski replied:
https://github.com/ros-planning/navigation2/issues/3549
Its called just the Smac Planner in Foxy https://github.com/ros-planning/...
- 153
2
votes
ROS2 Nav2 Not Starting with namespace
You can try this approach that my fellow student used here:
https://github.com/igrak34/TurtleBot2-on-ROS2/blob/main/turtlebot2_nav/launch/nav2.launch.py
https://github.com/igrak34/TurtleBot2-on-ROS2/...
- 1,573
2
votes
Accepted
Global plan update frequency Nav 2 [ROS 2]
Yes, look at the behavior tree XML you're using. You can set the rate there (or even make it a blackboard parameter so it can be adjusted on the fly).
What's nice about this is that you can not only ...
- 6,264
2
votes
Achieving Smooth Navigation with Nav2 Waypoint Follower
Try NavThroughPoses. The WPF stops at each pose, that's what it does and what it is documented to do. If you would not like your robot to stop at the given waypoints, then WPF is not the right ...
- 6,264
2
votes
Accepted
Nav2 obstacle avoidance not working in Humble
I think I found the issue, in the topic param for global_costmap I had merged_laser/scan, I changed it to /merged_laser/scan and ...
- 160
2
votes
Accepted
Dynamical footprint in Nav2
The "easy" solution would be to use a footprint that covers the robot in any configuration - the downside is that footprint is likely quite large and if you are planning in confined areas, ...
- 6,037
2
votes
Accepted
ROS2 Map not received when using nav2_bringup
I have found the mistake, I have renamed my yaml and png map files and forgot to adjust the new png name in the yaml file.
Thank you very much for the help still akchobby!
- 21
2
votes
clear costmap where a laser beam does not exist
Can you provide an image of what you're talking about?
Obstacle persistence is one of the most important parts of perception so you don't end up in oscillatory behavior. For example, once a blocked ...
- 6,264
2
votes
Accepted
Why TEB controller is not available in ros2 humble?
There was a recent post on the ROS Discourse, about a new MPPI controller. That post mentions:
I would be inundated with messages regarding TEB if I did not address it here. While TEB is quite a ...
- 2,139
2
votes
Need MPPI Tuning help : robot turns while trying to follow straight line global path
Its not possible to run the controller with just that single critic. Nothing is driving the robot forward (PathFollow), among other things. You need to look critically (he he he...) at the critics to ...
- 6,264
2
votes
Is there any way to change the color of line (trajectory) that appears in the SLAM once the robot starts moving using ROS2 and Nav2?
I think you will find the answer here: rviz/DisplayTypes/Path
Name
Description
Valid Values
Default
Color
The color of the line
([0-255], [0-255], [0-255])
(25, 255, 0)
Alpha
The amount of ...
- 1,647
1
vote
Accepted
Nav 2 - Max speed blocked way under the max vel specified
Its hard to help answer any of these types of questions without reproducable examples. There's no hard limit at 1.8947... in the code, so there's clearly something not configured properly that's ...
- 6,264
1
vote
Why TEB controller is not available in ros2 humble?
If you still like to work with TEB, you can clone "ros2-master" branch of teb_local_planner, and build it (I cloned teb_local_planner to the nav2_ws/src (workspace of navigation2))
git clone ...
- 11
1
vote
Accepted
ROS2 SLAM without Lidar
You will need to provide your own specialized localization solution since you don't have any of the necessary requirements for 2D or 3D lidar SLAM. There are VSLAMs you might want to check out, but I ...
- 6,264
1
vote
Accepted
Will the Navigation2 GPS WPF be backported to Humble?
No. It relies on items not available in Humble. Please upgrade to Iron or newer to use GPS Waypoint Follower
- 6,264
1
vote
Accepted
Inflation Layer doesn't seem to be working in local costmap specifically
plugins: ["inflation_layer", "obstacle_layer"]
These are ordered, so the inflation layer only applies to layers below it. Invert the order ...
- 6,264
1
vote
Accepted
Local Planner Not Extending Beyond Robot's Footprint Boundaries to Distort Global Planner's Path
After extensive debugging and parameter tuning, I identified the root cause of the issue and made significant improvements to the robot's path planning and obstacle avoidance behavior.
Turning Radius: ...
- 273
1
vote
How to set up odometry for a custom robot?
Typically, the odometry would be done by modeling where the center of the robot body is based on each leg movement and the forward kinematics. You may need to add some smoothing to this odometry ...
- 6,037
1
vote
Accepted
Challenges with Local Planner in ROS2 Navigation2: Ineffectual Obstacle Avoidance and Potential Self-Detection
Completely answered here: Local Planner Not Extending Beyond Robot's Footprint Boundaries to Distort Global Planner's Path
Result:
Now, we need fine-tuning to optimize the behavior.
- 273
1
vote
Navigate through waypoints without stopping and shortcutting
That feels like a controller tuning thing. If you want your robot to not skip over waypoints, don't allow the controller to do so. For example, the RPP controller is specifically designed just to ...
- 6,264
1
vote
clear costmap where a laser beam does not exist
This problem arises because the laser scan data moves along with the robot, rather than staying aligned with the static map. As a result, the costmap is becoming distorted, leading to inaccurate ...
- 25.3k
1
vote
clear costmap where a laser beam does not exist
I agree with Steve about not clearing an area of costmap just because you can't see it. That said, Steve provides some info in the following on how to do what I think you're aksing.
https://answers....
- 336
1
vote
Accepted
Nav2 Cart/Shelf Pick
Most of the times I've seen this done, the robot uses the navigation stack to get "close" to the cart (usually a designated pose in front of the cart), and then uses a custom perception + ...
- 6,037
1
vote
Convert ROS2 package from Humble to Foxy
The errors are pretty clear as what you'd need to change to make it work! These are all superficial API updates.
- 6,264
1
vote
Accepted
Nav2, controllers, and Twist commands for ackermann robots
The angular.z field is the body-fixed frame angular velocity, not the steering angle / velocity wrt how Nav2 treats the Twist ...
- 6,264
1
vote
Accepted
ROS2 Humble Nav2 - Local and Global costmap not published
Remove the "use_sim_time": "true" from your launch arguments for nav2_bringup and it should work. I had ...
- 86
Only top scored, non community-wiki answers of a minimum length are eligible