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ROS2 robot_localization how to correct x and y position when hit a wall

Yes. If you enable the accelerometer data to be fused then this should override data from the wheels and the EKF will figure out that the robot can't be moving. However I'm not sure if you will still ...
MarkyMark's user avatar
  • 526
0 votes
Accepted

How to configure Nav2's SMAC Planner to maintain a safer distance from obstacles?

It seems the Steve Commit has improved the collision checking and avoidance for the Ackerman motion model. I applied this modification to my local nav2_smac_planner and set the costmap resolutions (...
Marcus Vinicius's user avatar
1 vote
Accepted

Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps

I successfully resolved issues related to transitioning the Navigation2 stack from simulation to a real robot for costmap generation. The main adjustments involved configuration settings and ensuring ...
Marcus Vinicius's user avatar
0 votes

AMCL is not publishing map -> odom TF [HUMBLE]

I have found where was the issue. I didn`t give the initial pose because I thought the problem came from another thing because the termial, after I launched the robot and the nav2 bring_up, was full ...
dani santana's user avatar
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Could not echo /map topic using Nav2_map_server

To make the map show up in Rviz, you also need to set correct QoS settings on the subscribed topic in Rviz. To match the QoS settings, you can do ...
Jens Willy Johannsen's user avatar
1 vote

Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps

Let me put everything as an answer instead of comments. Transform issue The problem I see is that your robot publishes to the /odom topic but there is no transform ...
Diego Carvajal's user avatar
0 votes

How to trigger nav2 controller to follow the path that given from the custom planner

This is what the behavior tree structure is for! If your new planner is a C++ plugin, then you should be able to load it into the planner server and things should just work as is. If you have it in ...
Steve Macenski's user avatar
1 vote
Accepted

Is Groot still used to monitor nav2 behaviour tree in 2024? (ROS2-Humble)

I was facing the same issue, just to discover that, at least for Humble, the support for live monitoring of BT is dropped in Nav2 :( I'm still in doubt if the live monitoring will be available with ...
cbn.joao's user avatar
0 votes
Accepted

Access Issue to navigation2 Documentation Website. Is website off?

There is a new website at http://docs.nav2.org/, see the announcement on the ROS Discourse.
JRTG's user avatar
  • 1,999
0 votes
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Why can't I launch the navigation stack from the same launch file as the simulation and the mapper?

Apparantly this has to do with ROS 2 launch arguments leaking into other included launch configurations. In contrast to ROS 1, here included launch files will not have their own scope by default. You ...
moooeeeep's user avatar
  • 174
0 votes

nav2 - costmap without SLAM map

Yes, you can set the global costmap to a static size to use relative to your space and populate it only with sensor data. With that said, if its a non-trivial space, your planning will suffer from ...
Steve Macenski's user avatar
1 vote

How to configure Nav2's SMAC Planner to maintain a safer distance from obstacles?

This seems to be another report of the issue in https://github.com/open-navigation/navigation2/issues/4271. We are currently discussing over there and I encourage you to get involved and help us look ...
Steve Macenski's user avatar
1 vote

Navigating While Mapping - Ackermann vehicle

Your problem seems to be within the navigation behavior right? For that issue you should use an Ackerman specific global planner such as SMAC variations. I use the SMAC planner for my robot take a ...
Marcus Vinicius's user avatar
0 votes
Accepted

local_costmap from nav2 is not displayed in rviz2

Try to correct the QoS settings used by the odom topic and if it doesnt work then maybe your fixed frame id in rviz is incorrect. It also can happen if your odom topic is not present in the same tf ...
fatemeh_p's user avatar
  • 193
0 votes

NAV2 controller plugin asking directly for re-planning or recovery behavior to BT

Yes, have the controller plugin throw one of the Nav2 exception types. For Iron and newer, that will propogate up to the BT in the form of an error code that can be captured in the blackboard and used ...
Steve Macenski's user avatar
0 votes

Failed processing YAML file - Nav2 Bringup

I don't see anything that immediately causes me to say "ah ha!", but here's a working example: https://github.com/open-navigation/navigation2/blob/main/nav2_bringup/maps/turtlebot3_world....
Steve Macenski's user avatar
0 votes
Accepted

Adjusting Path Planning Origin in ROS2 Nav2 for a Long Vehicle

Ok, I have fixed This issue by generating a new plugin, which I called FrontCabinGoalChecker. Now the behavior of the goal checker is compatible with a nonholonomic robot (Truck, cars, etc) in ...
Marcus Vinicius's user avatar
0 votes
Accepted

How to Extend the Reach of Global Path Planning in Nav2 for Large Open Areas?

I fixed the issue by just increasing my global costmap size. I thought the path planner could plan even in unknown spaces setting the track_unknow_space to true on the configuration file. However, ...
Marcus Vinicius's user avatar
1 vote

Octomap - Save map using nav2_map_server

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Student's user avatar
  • 23

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