Move_base_flex can’t realize the recovery function after adding the recovery function package?
Hello, when I use the move_base_flex function package, The following problem occurred:
[ERROR] [1638496164.767881956, 445.089000000]: dt=0 detected, skipping loop(s). Possible overloaded cpu or simulating too fast [ERROR] [1638496167.814547, 448.131000]: Userdata key 'path' not available. Available keys are: [] [WARN] [1638496167.815866, 448.133000]: Attempting to copy output key 'path', but this key does not exist. [ERROR] [1638496167.817123, 448.134000]: Userdata key 'target_pose' not available. Available keys are: [] [WARN] [1638496167.818319, 448.135000]: Attempting to copy output key 'target_pose', but this key does not exist. [ERROR] [1638496167.819475, 448.136000]: Userdata key 'recovery_behavior' not available. Available keys are: [] [WARN] [1638496167.820597, 448.137000]: Attempting to copy output key 'recovery_behavior', but this key does not exist. [ERROR] [1638496167.864209, 448.178000]: Userdata key 'target_pose' not available. Available keys are: ['final_pose', 'dist_to_goal', 'recovery_behavior', 'path', 'message', 'outcome', 'angle_to_goal'] [WARN] [1638496167.868337, 448.181000]: Attempting to copy output key 'target_pose', but this key does not exist. [ERROR] [1638496176.546452, 456.849000]: Userdata key 'path' not available. Available keys are: [] [WARN] [1638496176.547470, 456.850000]: Attempting to copy output key 'path', but this key does not exist. [ERROR] [1638496176.548483, 456.851000]: Userdata key 'target_pose' not available. Available keys are: [] [WARN] [1638496176.549759, 456.853000]: Attempting to copy output key 'target_pose', but this key does not exist. [ERROR] [1638496176.550964, 456.854000]: Userdata key 'recovery_behavior' not available. Available keys are: [] [WARN] [1638496176.552467, 456.855000]: Attempting to copy output key 'recovery_behavior', but this key does not exist. [ERROR] [1638496176.577138, 456.880000]: Userdata key 'target_pose' not available. Available keys are: ['final_pose', 'dist_to_goal', 'recovery_behavior', 'path', 'message', 'outcome', 'angle_to_goal'] [WARN] [1638496176.578258, 456.881000]: Attempting to copy output key 'target_pose', but this key does not exist. [ WARN] [1638496183.650413950, 463.942000000]: Collision imminent, slamming the brakes [ WARN] [1638496183.650531096, 463.942000000]: Obstacle velocity limit active 0.00m/s [ WARN] [1638496184.603793023, 464.894000000]: No velocity command received from controller! [ WARN] [1638496187.657280032, 467.942000000]: No velocity command received from controller! [ WARN] [1638496188.658674685, 468.942000000]: Obstacle velocity limit active 0.00m/s [ WARN] [1638496189.562837719, 469.844000000]: The controller has been aborted after it exceeded the patience time [WARN] [1638496189.564771, 469.846000]: Controller failed: PAT_EXCEEDED, [ERROR] [1638496189.602324, 469.883000]: Userdata key 'path' not available. Available keys are: [] [WARN] [1638496189.603503, 469.884000]: Attempting to copy output key 'path', but this key does not exist. [ERROR] [1638496189.604751, 469.885000]: Userdata key 'target_pose' not available. Available keys are: [] [WARN] [1638496189.606094, 469.887000]: Attempting to copy output key 'target_pose', but this key does not exist. [ERROR] [1638496189.607375, 469.888000]: Userdata key 'recovery_behavior' not available. Available keys are: [] [WARN] [1638496189.608400, 469.889000]: Attempting to copy output key 'recovery_behavior', but this key does not exist. [ERROR] [1638496189.657332, 469.937000]: Userdata key 'target_pose' not available. Available keys are: ['final_pose', 'dist_to_goal', 'recovery_behavior', 'path', 'message', 'outcome', 'angle_to_goal'] [WARN] [1638496189.659222, 469.938000]: Attempting to copy output key 'target_pose', but this key does not exist. [ WARN] [1638496189.700923268, 469.982000000]: Clearing both costmaps to ...
Hello @mingyue,
instead of posting an image please post a full error description.
@Ranjit Kathiriya
The last error:
Failed to get a plan from potential when a legal potential was found. This shouldn't happen.is due to an issue with the global planner but it should not happen as it’s supposed to be handled: https://github.com/magazino/move_base...But the first error is calling due to lack of cpu resources. Are you running on a virtual machine or have GPU?
So I think you need to guarantee enough resources and see if you get a different result.
What ROS1 distro are you using?
yes，I use ros1 to execute the move_base_flex function package,and my industrial control machime is GPU and CPU.
What ros distro Noetic?
@ osilva I am using ros melodic, and there is still another question at the moment, how should I configure it so that the robot can distinguish between the path point and the target point? And the robot does not slow down at the approach point, what do I need to do?
I suggest to open a new question as more details will be required to help. For example sharing your parameters