Discussion - Nav2 Introduction (Making a Mobile Robot Pt 16)

Articulated Robotics Content Discussions
#22

hello community
When I launch

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

and use 2D Goal Pose
There will be a problem.

[planner_server-3] [INFO] [1703402794.884508361] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[planner_server-3] [ERROR] [1703402796.096544021] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the future.  Requested time 1703402745.783910 but the latest data is at time 731.607000, when looking up transform from frame [odom] to frame [map]
[planner_server-3] 
[planner_server-3] [WARN] [1703402796.096618534] [planner_server]: Could not transform the start or goal pose in the costmap frame
[planner_server-3] [WARN] [1703402796.096663225] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[behavior_server-4] [INFO] [1703402796.112731234] [behavior_server]: Running backup
[behavior_server-4] [WARN] [1703402806.118608888] [behavior_server]: Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading
[behavior_server-4] [WARN] [1703402806.118794687] [behavior_server]: backup failed
[behavior_server-4] [WARN] [1703402806.118853410] [behavior_server]: [backup] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1703402806.167201610] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-3] [INFO] [1703402806.194430683] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1703402806.270823741] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for compute_path_to_pose
[planner_server-3] [INFO] [1703402806.275882344] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[planner_server-3] [ERROR] [1703402807.097615127] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the future.  Requested time 1703402745.783910 but the latest data is at time 736.232000, when looking up transform from frame [odom] to frame [map]
[planner_server-3] 
[planner_server-3] [WARN] [1703402807.103436113] [planner_server]: Could not transform the start or goal pose in the costmap frame
[planner_server-3] [WARN] [1703402807.103546444] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[behavior_server-4] [INFO] [1703402807.169281308] [behavior_server]: Running spin
[behavior_server-4] [INFO] [1703402807.169574092] [behavior_server]: Turning 1.57 for spin behavior.
[behavior_server-4] [INFO] [1703402810.275975743] [behavior_server]: spin completed successfully
[planner_server-3] [ERROR] [1703402811.187078389] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the future.  Requested time 1703402745.783910 but the latest data is at time 738.292000, when looking up transform from frame [odom] to frame [map]
[planner_server-3] 
[planner_server-3] [WARN] [1703402811.194227126] [planner_server]: Could not transform the start or goal pose in the costmap frame
[planner_server-3] [WARN] [1703402811.194322182] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[planner_server-3] [INFO] [1703402811.262905966] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1703402811.268427021] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[bt_navigator-5] [ERROR] [1703402811.269075529] [bt_navigator]: Goal failed
[bt_navigator-5] [WARN] [1703402811.269169754] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

And then you just run the rotation, and all of a sudden the wheel rolls back.
What should I do?
I’m using humble

#23

Im facing the issue on real robot , the same error message you received . Any advice on how you solved it ?

#24

change spawner.py to spawner in the launch file

#25

Hi Josh,

I have the following problem. Simulatioin has the following Problem, it is possible that real robot also.
If I start my system following your great tutorial every thing works.

If I leave the system for half an hour or more I see my robot on other place without action from my side. After some hours it is on completely different place.

What can I do to overcome this drift ?

Thank you very much in advance!

Cheers,
Ivo

#26

Hi
Just a small query regarding waypoints. So I see how you manually assigned goal pose which the bot was following. I was wondering if there is any way to put multiple waypoints and then save it in the map itself. So that next time I run the simulation the bot follows the same trajectory from the same input goal poses or waypoints. This way I can actually have a fully autonomous simulation model.

#27

I hae a question, If we are using ros2 navigation stack how it is communicating with the hardware. I do know that we have to write the custom hardware interface but how to move motors according the path planning plugins. I am working on similar project. I was able to connect my robot with Arduino through serial communication but I don’t know how to move the motors according the navigation2 path plan.
is there any arduino code.

what I am trying to do is send the encoded values to custom interface, for odometery but I have no idea what commands should be send to arduino, so it can move according to the path planning given by rviz2

#28

Is it possible to use different path tracking algorithm, such as pure pursuit or standley, instead of nav2?