Husky waypoint nav: Husky was unable to reach its goal. GPS Waypoint unreachable.

asked 2019-05-20 03:18:18 -0600

simple people gravatar image

updated 2019-05-20 03:27:25 -0600

gvdhoorn gravatar image

I recently used gps for husky simulation navigation(https://www.clearpathrobotics.com/assets/guides/husky/HuskyGPSWaypointNav.html). I edited the gps point myself, read the gps point using the logic handle, and let him drive, but the husky in the simulator did not move, and the terminal displayed an error message. I don't know where the problem is.

[ INFO] [1558339162.829790607]: Initiated gps_waypoint node
[ INFO] [1558339163.253335118, 1313.790000000]: 5 GPS waypoints were read
[ INFO] [1558339163.309403366, 1313.850000000]: The following GPS Waypoints have been set:
[ INFO] [1558339163.309689414, 1313.850000000]: 1 2
[ INFO] [1558339163.309869602, 1313.850000000]: 2 3
[ INFO] [1558339163.310547185, 1313.850000000]: 3 4
[ INFO] [1558339163.310671284, 1313.850000000]: 5 4
[ INFO] [1558339163.310809180, 1313.850000000]: 6 4
[ INFO] [1558339163.311133696, 1313.850000000]: Received Latitude goal:1.00000000
[ INFO] [1558339163.311221705, 1313.850000000]: Received longitude goal:2.00000000
[ INFO] [1558339169.396472874, 1319.880000000]: Sending goal
[ERROR] [1558339195.299177143, 1345.430000000]: Husky was unable to reach its goal. GPS Waypoint unreachable.
[ INFO] [1558339195.299212980, 1345.430000000]: Exiting node...
[outdoor_waypoint_nav/gps_waypoint-1] killing on exit
[outdoor_waypoint_nav/gps_waypoint-1] escalating to SIGTERM
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Comments

Is 1, 2 a valid lat+lon in your simulation? If I enter it into Google maps I get a point off the coast of Africa (the continent), somewhere deep down in the ocean.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-20 03:32:27 -0600 )edit

Hello, I am sure that the initial GPS point position in the simulator is 49.9 and 8.9. The other four sets of data are freely fabricated by me. However, when running along the given gps point, the following picture appears, and the target point is always being sent. And no progress

been set: 04 00

simple people gravatar imagesimple people ( 2019-05-20 08:30:16 -0600 )edit