Overview:
I am attempting to run multi-robot navigation on ROS2 Humble (TurtleBot3 Burger) with namespaces.
However, each robot moves only a short distance (10–20 cm) and then starts rotating left/right on the spot indefinitely, failing to reach the goal.
This occurs consistently, regardless of the goal position.
Environment:
- ROS2 Humble
- TurtleBot3 Burger
- Each robot launched with namespace (robot1, robot2, …)
- Bringup & Navigation run on the robot
- Map server & RViz run on the PC
Launch Commands:
# PC: Map publish & Rviz start
ros2 launch
# Robot: Robot bringup
ros2 launch turtlebot3_bringup robot.launch.py use_sim_time:=false namespace:=robot1
# Robot: Scan republisher (to change topic & TF names)
ros2 launch multi_robot_nav scan_republisher.launch.py
# Robot: Navigation
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=false namespace:=robot1
# Robot: Send goal
ros2 launch multi_robot_nav send_goal.launch.py
TF Tree:
map
└── robot1/odom
└── robot1/base_footprint
└── robot1/base_link
├── robot1/caster_back_link
├── robot1/imu_link
├── robot1/base_scan
├── robot1/wheel_left_link
└── robot1/wheel_right_link
Observed issue:
- Robot moves normally only for 10–20 cm
- Then the controller fails → robot starts spinning in place
- No obstacle in RViz
- Local costmap and global costmap appear normal
- TF tree seems valid (posted above)
What I have already tried:
- Changed DDS (CycloneDDS, FastDDS)
- Adjusted parameters in burger.yaml
- Rechecked TF prefixes / frame IDs
But the issue persists.
Question:
What could cause Nav2 to stop partway and start oscillating in place when using namespaces?
Are there known issues with TurtleBot3 + Nav2 + TF prefixing?
Any guidance would be greatly appreciated.
Thanks.
【log & code】
（Base：ROS2 Standard Packages: “turtlebot3_bringup”, “turtlebot3_navigation2”）
navigation log
[component_container_isolated-1] [INFO] [1763561788.435824324] [robot1.bt_navigator]: Begin navigating from current location (0.05, 0.03) to (0.80, 0.50)
[component_container_isolated-1] [INFO] [1763561788.457830657] [robot1.controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1763561788.460015926] [robot1.controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general_goal_checker . This warning will appear once.
[component_container_isolated-1] [ERROR] [1763561788.898115960] [DWBLocalPlanner]: 1.00: BaseObstacle/Trajectory Hits Obstacle.
[component_container_isolated-1] [WARN] [1763561788.899029059] [robot1.controller_server]: No valid trajectories out of 819!
[component_container_isolated-1] [INFO] [1763561789.560778784] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561790.560781045] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561791.560782196] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561792.660781674] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561793.660760974] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561794.660770161] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561795.660756071] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561796.760782383] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561797.760782496] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1763561798.560944896] [robot1.controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1763561798.561194726] [robot1.controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1763561798.576717308] [robot1.local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1763561798.578956224] [robot1.controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1763561798.734336241] [robot1.controller_server]: Control loop missed its desired rate of 10.0000Hz
[component_container_isolated-1] [INFO] [1763561798.781184074] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561799.780915987] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561800.880957003] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561801.881399629] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561802.881019877] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561803.982154656] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561804.980914823] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561805.981014509] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561807.080968636] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561808.080916214] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1763561808.781147266] [robot1.controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1763561808.781888627] [robot1.controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1763561808.796704625] [robot1.local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1763561808.798519676] [robot1.global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1763561809.450987833] [robot1.planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 1.5374 Hz
[component_container_isolated-1] [INFO] [1763561809.468583406] [robot1.controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1763561810.569219266] [robot1.controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1763561811.569238916] [robot1.controller_server]: Passing new path to controller.
scan_republisher.launch.py
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():
namespace = LaunchConfiguration('namespace', default='robot1')
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
scan_republisher_node = Node(
package='robot_system_demo',
executable='scan_republisher',
name='scan_republisher',
namespace=namespace,
parameters=[{'use_sim_time': use_sim_time}],
output='screen'
)
ld = LaunchDescription()
ld.add_action(DeclareLaunchArgument('namespace', default_value='robot1'))
ld.add_action(DeclareLaunchArgument('use_sim_time', default_value='false'))
ld.add_action(scan_republisher_node)
return ld
scan_republisher.cpp
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
class ScanRepublisher : public rclcpp::Node
{
public:
ScanRepublisher() : Node("scan_republisher")
{
std::string input_topic = "/robot1/scan";
std::string output_topic = "/robot1/scan_repub";
rclcpp::SensorDataQoS qos;
pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(output_topic, qos);
sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
input_topic,
qos,
std::bind(&ScanRepublisher::scan_callback, this, std::placeholders::_1)
);
RCLCPP_INFO(this->get_logger(), "ScanRepublisher started: %s -> %s",
input_topic.c_str(), output_topic.c_str());
}
private:
void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
{
auto new_msg = *msg;
new_msg.header.frame_id = "robot1/base_scan";
pub_->publish(new_msg);
RCLCPP_DEBUG(this->get_logger(), "Republished scan, angle_min=%f", msg->angle_min);
}
rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr pub_;
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr sub_;
};
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<ScanRepublisher>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}
navigation2.launch.py (Modified lines only)
IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
launch_arguments={
'namespace': namespace,
'map': '', # modified
'use_sim_time': use_sim_time,
'params_file': param_dir}.items(),
),
burger.yaml
amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "robot1/base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "robot1/odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: "scan_repub"
map_topic: "/map"
amcl_map_client:
ros__parameters:
use_sim_time: False
amcl_rclcpp_node:
ros__parameters:
use_sim_time: False
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: "map"
robot_base_frame: "robot1/base_link"
odom_topic: "odom"
default_bt_xml_filename: "/opt/ros/humble/share/nav2_bt_navigator/behavior_t
rees/navigate_to_pose_w_replanning_and_recovery.xml"
bt_loop_duration: 10
default_server_timeout: 20
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 10.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"]
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.22
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.22
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 0
vtheta_samples: 40
sim_time: 1.5
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 1.0
xy_goal_tolerance: 0.05
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "Pat
hAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: "robot1/odom"
robot_base_frame: "robot1/base_footprint"
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.1
transform_tolerance: 1.0
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
inflation_radius: 1.0
cost_scaling_factor: 3.0
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: "scan"
scan:
topic: "/robot1/scan_repub"
max_obstacle_height: 2.0
scan_frame: "robot1/base_scan"
clearing: True
marking: True
data_type: "LaserScan"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: "scan"
scan:
topic: "/robot1/scan_repub"
max_obstacle_height: 2.0
scan_frame: "robot1/base_scan"
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: False
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
global_costmap:
global_costmap:
ros__parameters:
resolution: 0.05
origin_x: -25.0
origin_y: -25.0
update_frequency: 1.0
publish_frequency: 1.0
global_frame: "map"
robot_base_frame: "robot1/base_footprint"
use_sim_time: False
robot_radius: 0.1
resolution: 0.05
track_unknown_space: true
transform_tolerance: 1.0
map_topic: "/map"
use_namespace: False
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_laye
r"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: "scan"
scan:
topic: "/robot1/scan_repub"
max_obstacle_height: 2.0
scan_frame: "robot1/base_scan"
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: "scan"
scan:
topic: "/robot1/scan_repub"
max_obstacle_height: 2.0
scan_frame: "robot1/base_scan"
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
map_server:
ros__parameters:
use_sim_time: False
yaml_filename: ""
#map_saver:
# ros__parameters:
# use_sim_time: False
# save_map_timeout: 5.0
# free_thresh_default: 0.25
# occupied_thresh_default: 0.65
# map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: true
allow_unknown: true
transform_tolerance: 1.0
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "backup", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
backup:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: "robot1/odom"
robot_base_frame: "robot1/base_link"
transform_timeout: 0.1
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: False
waypoint_follower:
ros__parameters:
loop_rate: 2000
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200