Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

[ROS2] collision avoidance(without map) using dwb_controller in navigation2

I have tried to collision avoidance(without map) using dwb_controller in navigation2 package (ROS2 Dashing)

I have launched turtlebot3_gazebo and nav2_navigation.launch.py.

$ ros2 launch nav2_bringup nav2_navigation_launch.py use_sim_time:=True autostart:=True

Every packages was launched successfully but TurtleBot3 was not moved when I publish goal pose using below command

$ ros2 topic pub /move_base_simple/goal geometry_msgs/PoseStamped "{header: {stamp: {sec: 0}, frame_id: 'odom'}, pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}"

I have attached log lines when I launched navigation2 packages

Does anybody attempt it? or Am I miss something?

[ROS2] collision avoidance(without map) using dwb_controller in navigation2

I have tried to collision avoidance(without map) using dwb_controller in navigation2 package (ROS2 Dashing)

I have launched turtlebot3_gazebo and nav2_navigation.launch.py.

$ ros2 launch nav2_bringup nav2_navigation_launch.py use_sim_time:=True autostart:=True

Every packages was launched successfully but TurtleBot3 was not moved when I publish goal pose using below command

$ ros2 topic pub /move_base_simple/goal geometry_msgs/PoseStamped "{header: {stamp: {sec: 0}, frame_id: 'odom'}, pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}"

I have attached log lines when I launched navigation2 packages

 [INFO] [launch]: All log files can be found below /home/.....
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [world_model-1]: process started with pid [13672]
[INFO] [dwb_controller-2]: process started with pid [13673]
[INFO] [navfn_planner-3]: process started with pid [13674]
[INFO] [recoveries_node-4]: process started with pid [13675]
[INFO] [bt_navigator-5]: process started with pid [13676]
[INFO] [lifecycle_manager-6]: process started with pid [13677]
[lifecycle_manager-6] [INFO] [lifecycle_manager_control]: Creating
[lifecycle_manager-6] [INFO] [lifecycle_manager_control]: Starting the system bringup...
[lifecycle_manager-6] [INFO] [lifecycle_manager_control]: Creating and initializing lifecycle service clients
[world_model-1] [INFO] [world_model]: Creating
[lifecycle_manager-6] [INFO] [lifecycle_manager_control]: Configuring and activating world_model
[dwb_controller-2] [INFO] [dwb_controller]: Creating
[bt_navigator-5] [INFO] [bt_navigator]: Creating
[recoveries_node-4] [INFO] [recoveries]: Configuring Spin
[world_model-1] [INFO] [global_costmap.global_costmap]: Creating
[recoveries_node-4] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[recoveries_node-4] [INFO] [recoveries]: Configuring BackUp
[dwb_controller-2] [INFO] [local_costmap.local_costmap]: Creating
[navfn_planner-3] [INFO] [navfn_planner]: Creating
[world_model-1] [INFO] [world_model]: Configuring
[world_model-1] [INFO] [global_costmap.global_costmap]: Configuring
[world_model-1] [INFO] [global_costmap.global_costmap]: Using plugin "static_layer"
[world_model-1] [INFO] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[world_model-1] [INFO] [global_costmap.global_costmap]: Subscribed to Topics: scan
[world_model-1] [INFO] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[world_model-1] [INFO] [world_model]: Activating
[world_model-1] [INFO] [global_costmap.global_costmap]: Activating
[world_model-1] [INFO] [global_costmap.global_costmap]: Checking transform
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 12.954 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.003 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.003 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.094 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.097 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.098 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.001 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.001 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.099 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.002 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.1 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 13.801 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 14.001 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 14.201 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 14.401 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.001 timeout was 1.
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 14.601 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 14.801 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 15.000 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 15.201 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'base_scan' at time 15.401 for reason(0)
[world_model-1] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.098 timeout was 1.

Does anybody attempt it? or Am I miss something? something?