ROS2 Navigation Rosject - bt_navigator and navigate_to_pose keeps failing

Solution:
This problem can never be solved !
This seems to be an issue with ROS2 Foxy version. Only update to Galactic or newer version can fix this issue. Came to know this after spending quite some time on Google.

Information acquired:

  1. ROS2 Foxy was still in developmental stages - ROS2 Navigation Stack had some issues.
  2. This issue was never fixed in any ROS2 Foxy updates / patches.
  3. Rviz2 is also unstable - expected to shutdown abruptly.
  4. ROS2 Navigation Stack must be restarted if navigate_to_pose fails. There is no workaround.
  5. Navigation to Goal Pose is bound to fail with ROS2 Foxy, after 1 - 3 successful attempts.

Links Visited:

  1. bt_navigator failing with error `Action server failed while executing action callback: "send_goal failed"` - ROS Answers: Open Source Q&A Forum
  2. [bt_navigator]: Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr" - ROS Answers: Open Source Q&A Forum
  3. Stability regression since the recent foxy sync (Patch Release 4) #1074
  4. Path planning error - ROS2 Navigation course
  5. Navigation and SLAM Using the ROS 2 Navigation Stack – Automatic Addison

Marking this issue as solved. :neutral_face:

– Girish

1 Like