DWA planner fails to get path after switching from source install to binary
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.
Not an actual solution, but are you setting
Release
mode build for navigation? Without thatDebug
will be selected which will reduce performance.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)
Then I would suggest to try building with
CMAKE_BUILD_TYPE=RelWithDebInfo
.I tried with
-DCMAKE_BUILD_TYPE=Release
but it didn't do anything. I will try with the suggested command.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 triedcatkin_make_isolated -DCMAKE_BUILD_TYPE=RelWithDebInfo --install --use-ninja
and it still doesn't help.If your workspace is already built, you'll need to remove the
devel
andbuild
folders as the build tool will typically not rerun for just aCMAKE_BUILD_TYPE
change.But as I wrote earlier: none of this is an actual answer.
Indeed, I'd still like to find out why the binary install breaks after installing from source.
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
orcatkin_make_isolated
: just use an underlay workspace for Cartographer.