PatoInso's profile - activity

Nav2 Simple Action Server always returning ABORTED Hello, I'm trying to use the SimpleActionServer class from nav2_utils

Nav2 Simple Action Server always returning ABORTED Hello, I'm trying to use the SimpleActionServer class from nav2_utils

Nav2 Simple Action Server always returning ABORTED Hello, I'm trying to use the SimpleActionServer class from nav2_utils

Things I generally check and try in such case: Use "Bridged mode" for the Network Interface in VirtualBox Check that y

Things I generally check and try in such case: Use "Bridged mode" for the Network Interface in VirtualBox Check that y

Things I generally check and try in such case: Use "Bridged mode" for the Network Interface in VirtualBox Check that y

Nav2 Simple Action Server always returning ABORTED Hello, I'm trying to use the SimpleActionServer class from nav2_utils

Units for poses used in SMAC planner code Hello, While studying the SMAC planner, I got confused by the various units/c

Units for poses used in SMAC planner code Hello, While studying the SMAC planner, I got confused by the various units/c

Units for poses used in SMAC planner code Hello, While studying the SMAC planner, I got confused by the various units/c

Nope, we still have the problem... however we could improve a bit (cf my edit) by tweaking the DDS config related to soc

Nope, we still have the problem... however we could improve a bit (cf my edit) by tweaking the DDS config related to soc

Nope, we still have the problem... however we could improve a bit (cf my edit) by tweaking the DDS config related to soc

By any chance, may the particles vector passed in argument not be cleared/reset correctly ? (ie. old particules not upda

Architecture: how do you split large nodes Hi, I often encounter a situation where I'd like to split the code of a nod

Architecture: how to split large nodes Hi, I often encounter a situation where I'd like to split the code of a node in

I'm trying to debug find the root cause that generate this kind of error messages:

[planner_server-17] [INFO] [1667918874.743278206] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_merged' at time 1667918874.441 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

But I could not find in the code for Humble of the whole nav2 repo nor the message_filters any code printing this message, by CTRL+F its keywords like "earlier", "for reason", "Message Filter dropping message"...

Where does this message comes from ?

Where does message "Message Filter dropping message" comes from I'm trying to debug find the root cause that generate th

Where does message "Message Filter dropping message" comes frome I'm trying to debug find the root cause that generate t

Where does message Message Filter dropping message comes frome I'm trying to debug find the root cause that generate thi

Where does message "Message Filter dropping message" comes frome I'm trying to debug find the root cause that generate t

Hello,

I can detect AprilTags that are "far" from the camera, ie. small on the image and even a little blur, but the detection fails when the tags are close to the camera and when the image is clean and neat, what is counter-intuitive.

Is this expected ? How can I detect the tags at all scales ?

NB1: Interestingly, if I increase the "quad-decimate" param form default 1.0 to e.g. 16.0 (to reduce the image resolution), I can detect the "close" tag but not the "far" one (seems logical to not detect the small).

NB2: I use the VISP C++ lib directly, not the ROS apriltag packages, and images with 640x360 images

AprilTags not detected when close to camera Hello, I can detect AprilTags that are "far" from the camera, ie. small on

How to detect AprilTags close to camera Hello, I can detect AprilTags that are "far" from the camera, ie. small on the

Images messages not transmitted over network Hello, I have a RealSense camera that publishes a color stream at 15fps, s

Images messages not transmitted over network Hello, I have a RealSense camera that publishes a color stream at 15fps, s

Images messages not transmitted over network Hello, I have a RealSense camera that publishes a color stream at 15fps, s

Hello,

We are trying to navigate with obstacle avoidance with ROS2 Foxy and we switch from DWB to the freshly released Pure Pursuit Controller in the Navigation2 stack.

We set a goal in Rviz several meters in front of the robot, and after it starts moving, we place an obstacle on the path. Then the obstacle is effectively visible in the local costmap, and the look_ahead_point and the look_ahead_arc_path effectively stops at the obstacle: so it is somehow detected. But the robot continue at constant speed until it hits the obstacle We expected it to at least stop in front of the obstacle (or ideally to pass around it).

Video showing this behavior: https://www.youtube.com/watch?v=TCGRE...

In the console, we get the following messages:

[controller_server-7] [INFO] [1623946373.622400460] [controller_server]: Passing new path to controller.
[controller_server-7] [ERROR] [1623946373.622598680] [controller_server_rclcpp_node]: Action server failed while executing action callback: "RegulatedPurePursuitController detected collision ahead!"
[controller_server-7] [WARN] [1623946373.622634040] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.

I supposed that because the PurePursuitController fails and is aborted, there is no more velocity command published, that would stop the robot or avoid the obstacle.

What could cause that ? Is the presence of an obstacle really supposed to raise an error ?

Below is the configuration of our PurePursuitController:

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 10.0           
    min_x_velocity_threshold: 0.001   
    min_y_velocity_threshold: 0.001    
    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: 10.0
    # Goal checker parameters
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25       # [m]
      yaw_goal_tolerance: 0.17      # [rad]
      stateful: True
    # Pure pursuit parameters
    FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
      desired_linear_vel: 0.5
      max_linear_accel: 2.5
      max_linear_decel: 2.5
      lookahead_dist: 2.0
      min_lookahead_dist: 0.3
      max_lookahead_dist: 0.9
      lookahead_time: 1.0
      rotate_to_heading_angular_vel: 1.8
      transform_tolerance: 0.1
      use_velocity_scaled_lookahead_dist: false
      min_approach_linear_velocity: 0.05
      use_approach_linear_velocity_scaling: false
      max_allowed_time_to_collision: 5.0  # Set high as our footprint is large
      use_regulated_linear_velocity_scaling: false
      use_cost_regulated_linear_velocity_scaling: false
      regulated_linear_scaling_min_radius: 0.9
      regulated_linear_scaling_min_speed: 0.25
      use_rotate_to_heading: false
      rotate_to_heading_min_angle: 0.785
      max_angular_accel: 3.2
      cost_scaling_dist: 0.3
      cost_scaling_gain: 1.0
      inflation_cost_scaling_factor: 2.0

Thanks for your help,