Warnings in Navigation Project (ROS)

whats the reason for this warning, it always popup while launching move_base node.

and what parameters should i tune for this warning

i used below values for both local and global cost map parameters

  publish_frequency: 10.0
  update_frequency: 10.0

Other query---------------------------
when i send goal, my robot is successfully reaching goal and i can even see the global planner making path with green line, but i cannot see local planner making path, i even changed the colour to red to differentiate both the planners but i can only see green(global) not red(local).

my local planner parameters


# Robot Configuration Parameters
  max_vel_x: 0.22
  min_vel_x: -0.22

  max_vel_y: 0.0
  min_vel_y: 0.0

# The velocity when robot is moving in a straight line
  max_vel_trans:  0.22
  min_vel_trans:  0.11

  max_vel_theta: 2.75
  min_vel_theta: 1.37

  acc_lim_x: 2.5
  acc_lim_y: 0.0
  acc_lim_theta: 3.2 

# Goal Tolerance Parameters
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.17
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.5
  vx_samples: 20
  vy_samples: 0
  vth_samples: 40
  controller_frequency: 10.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.02
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true

Hello @AshishVarma

local costmap warnings

global costmap warnings

@AshishVarma ,

I was referring to the local planner , as you said you had issues visualizing it in RViz.

oh sorry my bad, no errors from local planner, may be some issue with rviz bcuz for the next try i can see the local planner too.

1 Like


when i run my project in simulation everything went fine.

when i started running my project in real robot, iam getting many warnings and errors

when i start my move base launch file

when i started giving a goal

But the robot reaching its goal…

my robot is moving in a weird manner, moving for 2-3sec and getting stop for a sec and again moving for 2-3sec and getting stopped for a sec… this repeats…

Please post the issue with the real robot separately for better visibility, if it’s still happening.