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No plugin loaded with the given name "navfn/NavfnROS"! The last action goal to "get_path" has been REJECTED

asked 2021-04-26 03:23:13 -0600

Kothandaraman Kannadasan gravatar image

updated 2021-04-26 08:52:05 -0600

miura gravatar image

I'm running the ubuntu 16.04 LTS (kinetic) version for the turtlebot3 simulation. when I am trying to use move_base_flex for turtlebot3 simulation facing this problem. The "navfn/NavfnROS" failed to load and the "get_path" rejected.

Can anyone please help me? how to solve this problem. I tried so many times but can't.

SUMMARY

PARAMETERS

  • /amcl/base_frame_id: base_footprint
  • /amcl/gui_publish_rate: 50.0
  • /amcl/initial_pose_a: 0.11
  • /amcl/initial_pose_x: -2.33
  • /amcl/initial_pose_y: -0.36
  • /amcl/kld_err: 0.02
  • /amcl/laser_lambda_short: 0.1
  • /amcl/laser_likelihood_max_dist: 2.0
  • /amcl/laser_max_beams: 180
  • /amcl/laser_max_range: 3.5
  • /amcl/laser_model_type: likelihood_field
  • /amcl/laser_sigma_hit: 0.2
  • /amcl/laser_z_hit: 0.5
  • /amcl/laser_z_max: 0.05
  • /amcl/laser_z_rand: 0.5
  • /amcl/laser_z_short: 0.05
  • /amcl/max_particles: 3000
  • /amcl/min_particles: 500
  • /amcl/odom_alpha1: 0.1
  • /amcl/odom_alpha2: 0.1
  • /amcl/odom_alpha3: 0.1
  • /amcl/odom_alpha4: 0.1
  • /amcl/odom_frame_id: odom
  • /amcl/odom_model_type: diff
  • /amcl/recovery_alpha_fast: 0.0
  • /amcl/recovery_alpha_slow: 0.0
  • /amcl/resample_interval: 1
  • /amcl/transform_tolerance: 0.5
  • /amcl/update_min_a: 0.2
  • /amcl/update_min_d: 0.2
  • /move_base_flex/GlobalPlanner/allow_unknown: False
  • /move_base_flex/GlobalPlanner/cost_factor: 0.55
  • /move_base_flex/GlobalPlanner/default_tolerance: 0.0
  • /move_base_flex/GlobalPlanner/lethal_cost: 253
  • /move_base_flex/GlobalPlanner/neutral_cost: 66
  • /move_base_flex/GlobalPlanner/old_navfn_behaviour: True
  • /move_base_flex/GlobalPlanner/use_dijkstra: True
  • /move_base_flex/GlobalPlanner/use_grid_path: False
  • /move_base_flex/GlobalPlanner/use_quadratic: False
  • /move_base_flex/GlobalPlanner/visualize_potential: True
  • /move_base_flex/angle_tolerance: 0.1
  • /move_base_flex/base_global_planner: navfn/NavfnROS
  • /move_base_flex/conservative_reset_dist: 3.0
  • /move_base_flex/controller_frequency: 10.0
  • /move_base_flex/controller_patience: 15.0
  • /move_base_flex/controllers: [{'type': 'dwa_lo...
  • /move_base_flex/dist_tolerance: 0.0001
  • /move_base_flex/dwa/acc_lim_theta: 3.2
  • /move_base_flex/dwa/acc_lim_x: 2.5
  • /move_base_flex/dwa/acc_lim_y: 0.0
  • /move_base_flex/dwa/controller_frequency: 10.0
  • /move_base_flex/dwa/forward_point_distance: 0.325
  • /move_base_flex/dwa/goal_distance_bias: 24.0
  • /move_base_flex/dwa/holonomic_robot: False
  • /move_base_flex/dwa/latch_xy_goal_tolerance: False
  • /move_base_flex/dwa/max_rot_vel: 1.82
  • /move_base_flex/dwa/max_scaling_factor: 0.2
  • /move_base_flex/dwa/max_trans_vel: 0.26
  • /move_base_flex/dwa/max_vel_x: 0.26
  • /move_base_flex/dwa/max_vel_y: 0.0
  • /move_base_flex/dwa/min_rot_vel: 0.4
  • /move_base_flex/dwa/min_trans_vel: 0.13
  • /move_base_flex/dwa/min_vel_x: 0.0
  • /move_base_flex/dwa/min_vel_y: 0.0
  • /move_base_flex/dwa/occdist_scale: 0.02
  • /move_base_flex/dwa/oscillation_reset_dist: 0.05
  • /move_base_flex/dwa/path_distance_bias: 20.0
  • /move_base_flex/dwa/publish_cost_grid_pc: True
  • /move_base_flex/dwa/publish_traj_pc: True
  • /move_base_flex/dwa/scaling_speed: 0.25
  • /move_base_flex/dwa/sim_time: 1.5
  • /move_base_flex/dwa/stop_time_buffer: 0.2
  • /move_base_flex/dwa/vth_samples: 30
  • /move_base_flex/dwa/vx_samples: 20
  • /move_base_flex/dwa/vy_samples: 0
  • /move_base_flex/dwa/xy_goal_tolerance: 0.05
  • /move_base_flex/dwa/yaw_goal_tolerance: 0.17
  • /move_base_flex/global_costmap/cost_scaling_factor: 3.0
  • /move_base_flex/global_costmap/footprint: [[-0.205, -0.155]...
  • /move_base_flex/global_costmap/global_frame: map
  • /move_base_flex/global_costmap/inflation_radius: 1.0
  • /move_base_flex/global_costmap/map_type: costmap
  • /move_base_flex/global_costmap/observation_sources: scan
  • /move_base_flex/global_costmap/obstacle_range: 3.0
  • /move_base_flex/global_costmap/publish_frequency: 10.0
  • /move_base_flex/global_costmap/raytrace_range: 3.5
  • /move_base_flex/global_costmap/robot_base_frame: base_footprint
  • /move_base_flex/global_costmap/scan/clearing: True
  • /move_base_flex/global_costmap/scan/data_type: LaserScan
  • /move_base_flex/global_costmap/scan/marking: True
  • /move_base_flex/global_costmap/scan/sensor_frame: base_scan
  • /move_base_flex/global_costmap/scan/topic: scan
  • /move_base_flex/global_costmap/static_map: True
  • /move_base_flex/global_costmap/transform_tolerance: 0.5
  • /move_base_flex/global_costmap/update_frequency: 10.0
  • /move_base_flex/local_costmap/cost_scaling_factor: 3.0
  • /move_base_flex/local_costmap/footprint: [[-0.205, -0.155]...
  • /move_base_flex/local_costmap/global_frame: odom
  • /move_base_flex/local_costmap/height: 3
  • /move_base_flex/local_costmap/inflation_radius: 1.0
  • /move_base_flex/local_costmap/map_type: costmap
  • /move_base_flex/local_costmap ...
(more)
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answered 2021-04-26 08:51:34 -0600

miura gravatar image

In move_base_flex, it seems to set the planner in planners, not in base_global_planner.

It should work if you specify the following, as in /move_base_flex/controllers.

/move_base_flex/planners: [{'type': 'navfn/NavfnROS', 'name': NavfnROS}]

I'm not familiar with move_base_flex, but from the following link I believe it is the above. https://github.com/Rayman/turtlebot3_... https://github.com/Rayman/turtlebot3_... https://github.com/Rayman/turtlebot3_...

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First of all thanks for your immediate response. Yes, you are exactly correct I am following this link https://github.com/Rayman/turtlebot3_mbf but the problem is if I am using catkin_make instead of catkin build it is working. If I use the catkin build for my workspace it is not working and the Global planner (navfn) doesn't load. I don't know why it is happening.

Inside my workspace: amul_ws/src/turtlebot3_mbf/param/move_base.yaml

planners: - name: NavfnROS type: navfn/NavfnROS

controllers: - name: DWAPlannerROS type: dwa_local_planner/DWAPlannerROS

controller_frequency: 5.0 controller_patience: 3.0

planner_frequency: 1.0 planner_patience: 5.0

oscillation_timeout: 10.0 oscillation_distance: 0.2

still, It has doesn't load the global planner and the "get_path" has been rejected.

Kothandaraman Kannadasan gravatar image Kothandaraman Kannadasan  ( 2021-04-26 22:36:48 -0600 )edit

path settings of the packages seem to be different between catkin_make and cakin build. You may find some changes by executing soude ws/devel/setup.bash or by using rm -rf ws/devel ws/build to clean up the file in the middle and then executing the command.

miura gravatar image miura  ( 2021-04-27 10:56:19 -0600 )edit
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Asked: 2021-04-26 03:23:13 -0600

Seen: 209 times

Last updated: Apr 26 '21

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