NAV2:Sensor origin at (0.07, -0.00) is out of map bounds. The costmap cannot raytrace for it
I'm trying to build a full bot on Ros2 foxy. I'm using RPLidar sensor, Slam Toolbox for creating maps, custom nodes for odometer framework and Navigation2 for navigation. Everything works fine (driving in manual mode with the controller, using SlamToolbox to create maps and localization in maps...), but when I start the navigation stack, I get the following warning message from the controller server: Sensor origin at (0.07, 0.00) is out of map bounds If I use [2D pose Estimate] to recalibrate the initial position and release the target point, my robot can reach the target point normally. But I want to solve this problem, what is the way? In fact, this problem also occurs in the Galactic version, and I really can't help it. If more parameter information is required, I can always provide it. The content of my parameter file is as follows:
amcl:
ros__parameters:
use_sim_time: False
alpha1: 0.9
alpha2: 0.1
alpha3: 0.05
alpha4: 0.01
alpha5: 0.04
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom_combined"
pf_err: 0.02
pf_z: 0.85
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 2
robot_model_type: "differential"
save_pose_rate: 0.5
sigma_hit: 0.02
tf_broadcast: true
transform_tolerance: 1.2
update_min_a: 0.06
update_min_d: 0.025
z_hit: 0.7
z_max: 0.001
z_rand: 0.059
z_short: 0.24
# Initial Pose
set_initial_pose: True
initial_pose.x: 0.0
initial_pose.y: 0.0
initial_pose.z: 0.0
initial_pose.yaw: 0.0
amcl_map_client:
ros__parameters:
use_sim_time: False
amcl_rclcpp_node:
ros__parameters:
use_sim_time: False
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom_combined
default_bt_xml_filename: "navigate_w_replanning_time.xml"
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_distance_traveled_condition_bt_node
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 10.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
progress_checker_plugin: "progress_checker"
goal_checker_plugin: "goal_checker"
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 30.0
# Goal checker parameters
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: -0.5
min_vel_y: 0.0
max_vel_x: 0.5
max_vel_y: 0.0
max_vel_theta: 0.5
min_speed_xy: 0.0
max_speed_xy: 1.0
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 0.5
acc_lim_y: 0.0
acc_lim_theta: 1.0
decel_lim_x: -0.5
decel_lim_y: 0.0
decel_lim_theta: -1.0
vx_samples: 20
vy_samples: 0
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 1.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.04
PathAlign.scale: 50.0
GoalAlign.scale: 10.0
PathAlign.forward_point_distance: 0.1
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 50.0
GoalDist.scale: 10.0
RotateToGoal.scale ...