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
Releasemode build for navigation? Without thatDebugwill 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=Releasebut 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-ninjaI triedcatkin_make_isolated -DCMAKE_BUILD_TYPE=RelWithDebInfo --install --use-ninjaand it still doesn't help.If your workspace is already built, you'll need to remove the
develandbuildfolders as the build tool will typically not rerun for just aCMAKE_BUILD_TYPEchange.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
ninjaorcatkin_make_isolated: just use an underlay workspace for Cartographer.