Need help to solve Ros2 Navigation rosject problems, please

[pabled91]

Sorry, it was a little bit complicated

The summary:

-Is thetranslation spread normal compared to the rotation that concentrates the particles? Reducing the translation noise I finally reduced it.

@pabled91

When starting as expected the particles ar spead

when moving they concentrate

Is it normal that in straight line the points spead more again?

-I was worried about this message. But I ended up finding an answer

[bt_navigator-4] [ERROR] [1695819711.112090088] [bt_navigator]: Actionserver failed while executing action callback: "send_goal failed"

@rtellez

The error Action server failed while executing action callback: "send_goal failed", according to this post by the Nav2 creator, that is an error that only happens on Nav2 for Foxy, so it is solved in Galactic. Do not worry about it, since the error is not actually preventing the robot to reach the goal

• A lot of times when I give a goal I get, And I have to launch everything again. So I have a problem with BT-navigator

[bt_navigator-4] [INFO] [1695819825.259601650] [bt_navigator]: Begin navigating from current location to (-0.02, -1.05)
[ERROR] [bt_navigator-4]: process has died [pid 12065, exit code -11, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /home/user/ros2_ws/install/project_path_planning/share/project_path_planning/config/bt_navigator.yaml'].

• I also often get a problem of transform

[planner_server-2] [INFO] [1695822004.317905606] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransformargument target_frame - frame does not exist

• I had a problem of blocking behavior of the robot but you were right it certainly was because of theglobal and local costmaps where the inflation was too big for small sized zone.

• The robot never goes to the end of the path and sometimes really ends far. I suppose it is because of the particles orbecause of the accepted margin where it is considered arrived to the goal.
  

  

Following your last message

@roalgoal

It is strange that you have to restart everything after changing a config file. Try separating your launches in order to only kill the nodes you are changing the config for.

• I know I have to restart when I get the Info message. I will try separating the the launch files

[planner_server-2] [INFO] [1695978888.060696893] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist

@roalgoal

While debugging, you will have to restart rviz2 a lot, yes.

• As I thought it only shows the data frome different topics, I didn’t thought it would have an impact requiring to restart it. I juste used to click reset to erase the previous launch remaining data

@roalgoal

Your costmaps seem huge. Do you see why the robot would have a difficult time finding a solution to the goal sent? What about the robot footprint? Is it too big for the robot?

• The foot print is the one from the course. But the inflation was too big it works better now even if sometimes I have to send it multiple time before having it to start moving. Sometimes it is strange it tell me navigation succeed but it didn’t move to de goal

I will still test

Thank you for you patience