Fails to move to the goal point

Course Support ROS2 Navigation
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17

Hi @NoN33d ,

I think I got the solution for this problem.

Refer to this post here: Path planning error - ROS2 Navigation course - #3 by rtellez

What you should do to get the robot move (and reach) the goal pose:

  1. Replace your behavior.xml file with the file contents provided in the above post.
  2. Replace your bt_navigator.yaml file with the file contents provided in the above post.
  3. Very Important: Make sure you change the path to the behavior.xml file in the bt_navigator.yaml file. You must provide the path to “your” behavior.xml file.

Once you do follow these steps correctly, you can send a goal pose to your robot either with 2d Goal Pose button on Rviz2 or use the action server NavigateToPose.

After following these steps, when you send a goal pose, you will still see the following error message:

[bt_navigator-3] [ERROR] [<timestamp>] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"

Just ignore this message!
Can this be solved?
Short answer: No, not in Foxy.
Long answer: Yes, you need to update Foxy to Galactic, this problem is fixed in Galactic. Problem is that our rosject environment uses Foxy and we cannot update it to Galactic by ourselves unless TheConstruct team updates. So don’t worry about this!

Let me know if this worked for you. [This worked for me, so it should work for you too!]

Regards,
Girish