ROS1 navigation : lost plan and lidar error .. plz help

General Support
1

hi I’m newbie in robotics and I’m trying to do slam and Nav.
and I met some issue and error.
At first , I’m doing 2D Nav Goal in Python code .
when I get a signal from a ‘A’ topic, the Robot move to ‘A’ position and the ‘B’ , ‘C’ also doing like that. ( they publish only Once)

  1. My robot goes out of control when it receives data from the ‘a’ topic and starts moving. (not everytime)
  2. Before moving from position A to position B, the robot rotates in place (recovery behavior), even though the distance is not far—just about 30 centimeters diagonally.
  3. My laser suddenly started acting abnormally.
  4. the local plan is not appear but i can subscribe local plan.
    Notion – The all-in-one workspace for your notes, tasks, wikis, and databases.
    the link is img and video.
    I hope any advice. thank you
2

Hi @hyerin ,

I watched your video. I think you have either the following issues or all.

  1. You have something obstructing your lidar.
  2. Your localization is bad, probably due to noisy IMU (specifically because of Gyroscope or Magnetometer).
  3. You have a communication delay in your system causing garbage to add up in your memory bus. (Highly unlikely.)

The fix is to use a better IMU with proper filtering that is not susceptible to too much noise.

Move away IMU from motors if they are too close to each other. The EM field generated by the motors can affect the IMU readings.

You also need to lower your Map update rate and controller update rate. By lower, I mean, decrease the frequency. Set your map and controller update rates to 2 Hz each.

In summary, your localization is bad, you need to fix your noisy IMU (or whichever device gives your robot the odometry and orientation).

Regards,
Girish

3

hi @girishkumar.kannan !
At first , I really appreciate your reply.
I can tell my bad IMU sensor and I fixed it. I did roll back. I think I modified some parameters and it caused noise.

And I modified Map update rate and controller update rate. but it’s getting more bad. it can’t find path.

like this.
ERROR] [1733124497.831374765]: NO PATH!
[ERROR] [1733124497.834511351]: Failed to get a plan from potential when a legal potential was found. This shouldn’t happen.
[ERROR] [1733124499.761731412]: NO PATH!
[ERROR] [1733124499.762169884]: Failed to get a plan from potential when a legal potential was found. This shouldn’t happen.
[ERROR] [1733124506.237128500]: NO PATH!
[ERROR] [1733124506.238282401]: Failed to get a plan from potential when a legal potential was found. This shouldn’t happen.

I updated my launch and param file.

http://internal-ferry-61a.notion.site

I’m waiting your advice thank you.

hyerin