DWA planner fails to get path after switching from source install to binary

asked 2018-11-07 09:29:27 -0600

Matt_S gravatar image

updated 2018-11-07 11:26:53 -0600

gvdhoorn gravatar image

I wanted to edit the map_server for use with cartographer so I installed from source. After I did, Navigation ran horribly so I removed it and tried to switch back to using the binary installation. Since I'm using cartographer with Kinetic I am using ninja to make my project. I removed all install folders and re-built, but still no good. The DWA planner is not even moving the robot at all. If I bring navigation back in from source, it works, but again it has poor performance compared to the binary install. Am I missing steps somewhere?

This is my current output from nav.

[ INFO] [1541431084.895501853, 23.761000000]: Got new plan
[ WARN] [1541431084.915186353, 23.780000000]: DWA planner failed to produce path.
[ INFO] [1541431085.000501373, 23.862000000]: Got new plan
[ WARN] [1541431085.028524730, 23.888000000]: DWA planner failed to produce path.
[ INFO] [1541431085.103385883, 23.961000000]: Got new plan
[ WARN] [1541431085.124919847, 23.982000000]: DWA planner failed to produce path.
[ INFO] [1541431085.210148758, 24.061000000]: Got new plan
[ WARN] [1541431085.235411133, 24.086000000]: DWA planner failed to produce path.
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Not an actual solution, but are you setting Release mode build for navigation? Without that Debug will be selected which will reduce performance.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-07 11:27:27 -0600 )edit

I am not. When I use the kinetic-devel branch of navigation, I just install and use directly. The problem I get is that my scan observation buffer performance gets very bad (Update warnings vary from .15 to 5 seconds, and I have expected_update_rate set to 0.1)

Matt_S gravatar imageMatt_S ( 2018-11-07 11:31:45 -0600 )edit

Then I would suggest to try building with CMAKE_BUILD_TYPE=RelWithDebInfo.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-07 13:04:31 -0600 )edit

I tried with -DCMAKE_BUILD_TYPE=Release but it didn't do anything. I will try with the suggested command.

Matt_S gravatar imageMatt_S ( 2018-11-08 08:46:58 -0600 )edit

Hmm, with the command you gave me, It doesn't build. I am using ninja, so my full command is catkin_make_isolated CMAKE_BUILD_TYPE=RelWithDebInfo --install --use-ninja I tried catkin_make_isolated -DCMAKE_BUILD_TYPE=RelWithDebInfo --install --use-ninja and it still doesn't help.

Matt_S gravatar imageMatt_S ( 2018-11-08 08:50:08 -0600 )edit

If your workspace is already built, you'll need to remove the devel and build folders as the build tool will typically not rerun for just a CMAKE_BUILD_TYPE change.

But as I wrote earlier: none of this is an actual answer.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 09:03:47 -0600 )edit

Indeed, I'd still like to find out why the binary install breaks after installing from source.

Matt_S gravatar imageMatt_S ( 2018-11-08 09:14:17 -0600 )edit

If you can provide a little more details as to how you "installed from source", "removed it" and "tried to switch back to using the binary installation" perhaps that can be answered.

Also: there is no need to use ninja or catkin_make_isolated: just use an underlay workspace for Cartographer.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 09:15:24 -0600 )edit