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navigation2 failed with no recovery behaviours

asked 2020-10-15 05:24:38 -0500

Phymin gravatar image

updated 2020-10-15 05:34:08 -0500

Hi

I deploy navigation2 to a differiential vehicle, and I encounter a strange problem. Every time when I give a goal from rviz2, the vehicle will reach the goal, but sometimes the navigator will give a successful result, but most of the time the navigator will promt the following error without any recovery behaviours, though I configured recovery behaviours. and there is no obstacle around the vehicle when this error occurs.

[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [ERROR] [dwb_controller]: Failed to make progress
[dwb_controller-5] [INFO] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[world_model-4] [INFO] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-8] [ERROR] [bt_navigator]: Navigation failed
[world_model-4] [INFO] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability

Following is my behaviour tree configure:

<root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6">
      <Sequence name="NavigatorWithReplanning">
        <RateController hz="1.0">
            <Fallback>
                <GoalReached/>
                <ComputePathToPose goal="${goal}" path="${path}"/>
            </Fallback>
        </RateController>
        <FollowPath path="${path}"/>
    </Sequence>
    <SequenceStar name="RecoveryActions">
        <ClearEntireCostmap service_name="/local_costmap/clear_entirely_local_costmap"/>
        <ClearEntireCostmap service_name="/global_costmap/clear_entirely_global_costmap"/>
        <Spin spin_dist="1.57"/>
    </SequenceStar>
 </RecoveryNode>
 </BehaviorTree>
</root>

I don't know where the problem is, because when I use simulation with gazebo with the same navigation parameters, there is no such errors. The main difference is that simulation is within one machine, and the real vehilce is within 2 machines. Hope anyone familiar with this could help me out. Thank in advance.

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answered 2021-10-08 02:06:40 -0500

jonipol gravatar image

updated 2021-10-08 02:07:29 -0500

I had similar issues. For me setting server_timeout parameter to ClearEntireCostmap nodes helped.

   <ClearEntireCostmap service_name="/local_costmap/clear_entirely_local_costmap" 
                       server_timeout="500"/>
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Asked: 2020-10-15 05:24:38 -0500

Seen: 161 times

Last updated: Oct 08 '21