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nav2_controller::SimpleGoalChecker not working properly on Xavier NX

Hi, So I am running nav2 rolling on Xavier NX.

While running after 40 waypoints or so the goal checker stops working. So now the navigation never completes. The controller(RPP) works fine, it makes the bot stop near the goal, but as the goal_checker is not working so the navigation never completes and the bot stays there forever.

The analogy I followed:

Logs:

As you can see, the goal_pose almost tends to zero. The tolerance here is 0.06m. Hence inside the region.The same is shown by the local_dist variable inside the controller server.

As you can see in the pictures the values of inside simple_goal don't change continuously, but they change abruptly (happens in the middle of every picture). Where as the value of local_dist changes continuously.

And after the last picture the values don't change and the bot remains in one place only.

If any one has faced the same issue kindly help.

Note: This happens only on Xavier NX, but not on machines with higher compute like NUC and i7 gen laptops.

Thanks.

Asked by root-robot on 2021-12-17 09:30:58 UTC

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