Robot not navigating when using custom costmap layer.

asked 2023-06-09 07:38:01 -0600

Booooyaaaa gravatar image

updated 2023-06-09 07:41:09 -0600

I am using a custom costmap plugin for creating high costs around the people(gazebo actor model). I am using the social layer (https://github.com/robotics-upo/nav2_...). However, this code was built for ros2 foxy and I am using ros2 humble. I made some changes by looking into the default plugin codes and tutorial code and now the costs are being updated according to the position of humans in the simulation. But the robot does not navigate, the planner and gets stuck.

I am unable to debug as I don't see any error messages. Any hints or suggestions to solve this problem would be greatly appreciated.

The last few log message from nav2

[rviz2-12] Start navigation [rviz2-12] [INFO] [1686310949.377695836] [_]: NavigateToPose will be called using the BT Navigator's default behavior tree. [bt_navigator-8] [INFO] [1686310949.378184625] [bt_navigator]: Begin navigating from current location to (0.84, 3.11) [rviz2-12] Start navigation [rviz2-12] [INFO] [1686310982.082014620] [_]: NavigateToPose will be called using the BT Navigator's default > behavior tree. [bt_navigator-8] [INFO] [1686310982.088378020] [bt_navigator]: Received goal preemption request [bt_navigator-8] [INFO] [1686310982.088627230] [bt_navigator]: Begin navigating from current location to (1.12, 2.23)

Video of the above problem: https://youtu.be/QfGq5oc1GSk

Modified code: https://github.com/dharanish-nh/custo...

Thank you in advance for your help.

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