I am using ros2 and the navigation2 stack with dwb local planner.
Moving along a path works quite good until I come close to the goal.
As soon as I am about half a meter away from goal, local planner stops and recovery behavior starts.
No debug information thats helping in any way from local_controller.
Tried with default params and played with planner costs but didn't help.
Logs:
[bt_navigator-9] 1576919591.457560223: [osg_1.bt_navigator] [INFO] Begin navigating from current location to (16.29, -5.22)
[controller_server-6] 1576919591.484765495: [osg_1.controller_server] [INFO] Received a goal, begin computing control effort.
[controller_server-6] 1576919592.538323109: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919593.537786932: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919594.588264789: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919595.588693952: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919596.588160183: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919597.587782147: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919598.638209477: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919599.638641570: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919600.638103478: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919601.637982831: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919602.687874252: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919603.687692602: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919604.688053416: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919605.738370498: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919606.737878037: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919607.738398407: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[bt_navigator-9] 1576919608.102711864: [osg_1.bt_navigator] [INFO] Received goal preemption request
[bt_navigator-9] 1576919608.103001664: [osg_1.bt_navigator] [INFO] Begin navigating from current location to (15.96, -3.88)
[controller_server-6] 1576919608.738182619: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919609.787711291: [osg_1.controller_server] [INFO] Preempting the goal. Passing the new path to the planner.
[controller_server-6] 1576919610.187985470: [osg_1.controller_server] [ERROR] Failed to make progress
[controller_server-6] 1576919610.188201041: [osg_1.controller_server_rclcpp_node] [WARN] [follow_path] [ActionServer] Aborting handle.
[controller_server-6] 1576919610.189754250: [osg_1.local_costmap.local_costmap] [INFO] Received request to clear entirely the local_costmap
[controller_server-6] 1576919610.190666358: [osg_1.local_costmap.local_costmap] [INFO] Received request to clear entirely the local_costmap
[planner_server-7] 1576919610.192350578: [osg_1.global_costmap.global_costmap] [INFO] Received request to clear entirely the global_costmap
[recoveries_server-8] 1576919610.195166780: [osg_1.recoveries_server] [INFO] Attempting spin
[recoveries_server-8] 1576919610.195413958: [osg_1.recoveries_server] [INFO] Turning -1.57 for spin recovery.
[recoveries_server-8] 1576919611.194813710: [osg_1.recoveries_server] [INFO] spin running...
[recoveries_server-8] 1576919612.193241933: [osg_1.recoveries_server] [INFO] spin running...
[recoveries_server-8] 1576919612.595722476: [osg_1.recoveries_server] [INFO] spin completed successfully
[recoveries_server-8] 1576919612.598501340: [osg_1.recoveries_server] [INFO] Attempting wait
[recoveries_server-8] 1576919613.598036424: [osg_1.recoveries_server] [INFO] wait running...
/osg_1/planner_server:
ros__parameters:
allow_unknown: True
planner_plugin_ids: ["GridBased"]
planner_plugin_types: ["nav2_navfn_planner/NavfnPlanner"]
tolerance: 0
use_astar: True
use_sim_time: True
/osg_1/controller_server:
ros__parameters:
BaseObstacle.class: "BaseObstacle"
BaseObstacle.scale: 0.02
BaseObstacle.sum_scores: False
GoalAlign.aggregation_type: "last"
GoalAlign.class: "GoalAlign"
GoalAlign.forward_point_distance: 0.325
GoalAlign.scale: 0
GoalDist.aggregation_type: "last"
GoalDist.class: "GoalDist"
GoalDist.scale: 16
Oscillation.class: "Oscillation"
Oscillation.oscillation_reset_angle: 0.2
Oscillation.oscillation_reset_dist: 0.05
Oscillation.oscillation_reset_time: -1
Oscillation.scale: 1
Oscillation.x_only_threshold: 0.05
PathAlign.aggregation_type: "last"
PathAlign.class: "PathAlign"
PathAlign.forward_point_distance: 0.325
PathAlign.scale: 12
PathDist.aggregation_type: "last"
PathDist.class: "PathDist"
PathDist.scale: 8
RotateToGoal.class: "RotateToGoal"
RotateToGoal.scale: 4
RotateToGoal.xy_goal_tolerance: 0.25
acc_lim_theta: 2
acc_lim_x: 2
acc_lim_y: 0
controller_frequency: 20
controller_plugin_ids: ["FollowPath"]
controller_plugin_types: ["dwb_core::DWBLocalPlanner"]
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
debug_trajectory_details: True
decel_lim_theta: -2
decel_lim_x: -2
decel_lim_y: 0
discretize_by_time: False
goal_checker_name: "dwb_plugins::SimpleGoalChecker"
max_speed_xy: 1.3
max_vel_theta: 1
max_vel_x: 1.3
max_vel_y: 0
min_speed_theta: 0
min_speed_xy: 0
min_theta_velocity_threshold: 0.001
min_vel_x: 0
min_vel_y: 0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
prune_distance: 1
prune_plan: True
publish_cost_grid_pc: True
publish_evaluation: True
publish_global_plan: True
publish_local_plan: True
publish_trajectories: True
publish_transformed_plan: True
sim_time: 2.2
trajectory_generator_name: "dwb_plugins::StandardTrajectoryGenerator"
transform_tolerance: 0.2
use_sim_time: True
vx_samples: 25
vy_samples: 0
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.25
/osg_1/local_costmap/local_costmap:
ros__parameters:
3d_obstacle_layer.combination_method: 1
3d_obstacle_layer.decay_model: 0
3d_obstacle_layer.enabled: True
3d_obstacle_layer.map_save_duration: 60
3d_obstacle_layer.mapping_mode: False
3d_obstacle_layer.mark_threshold: 0
3d_obstacle_layer.observation_sources: "rgbd1_clear rgbd1_mark"
3d_obstacle_layer.publish_voxel_map: True
3d_obstacle_layer.rgbd1_clear.clear_after_reading: False
3d_obstacle_layer.rgbd1_clear.clearing: True
3d_obstacle_layer.rgbd1_clear.data_type: "PointCloud2"
3d_obstacle_layer.rgbd1_clear.decay_acceleration: 1
3d_obstacle_layer.rgbd1_clear.enabled: True
3d_obstacle_layer.rgbd1_clear.expected_update_rate: 0
3d_obstacle_layer.rgbd1_clear.horizontal_fov_angle: 1.04
3d_obstacle_layer.rgbd1_clear.inf_is_valid: False
3d_obstacle_layer.rgbd1_clear.marking: False
3d_obstacle_layer.rgbd1_clear.max_obstacle_height: 3
3d_obstacle_layer.rgbd1_clear.max_z: 10
3d_obstacle_layer.rgbd1_clear.min_obstacle_height: 0
3d_obstacle_layer.rgbd1_clear.min_z: 0.1
3d_obstacle_layer.rgbd1_clear.model_type: 0
3d_obstacle_layer.rgbd1_clear.observation_persistence: 0
3d_obstacle_layer.rgbd1_clear.obstacle_range: 2.5
3d_obstacle_layer.rgbd1_clear.sensor_frame: ""
3d_obstacle_layer.rgbd1_clear.topic: "/osg_1/custom_camera/custom_points"
3d_obstacle_layer.rgbd1_clear.vertical_fov_angle: 0.7
3d_obstacle_layer.rgbd1_clear.vertical_fov_padding: 0
3d_obstacle_layer.rgbd1_clear.voxel_filter: False
3d_obstacle_layer.rgbd1_mark.clear_after_reading: True
3d_obstacle_layer.rgbd1_mark.clearing: False
3d_obstacle_layer.rgbd1_mark.data_type: "PointCloud2"
3d_obstacle_layer.rgbd1_mark.decay_acceleration: 0
3d_obstacle_layer.rgbd1_mark.enabled: True
3d_obstacle_layer.rgbd1_mark.expected_update_rate: 0
3d_obstacle_layer.rgbd1_mark.horizontal_fov_angle: 1.04
3d_obstacle_layer.rgbd1_mark.inf_is_valid: False
3d_obstacle_layer.rgbd1_mark.marking: True
3d_obstacle_layer.rgbd1_mark.max_obstacle_height: 5
3d_obstacle_layer.rgbd1_mark.max_z: 10
3d_obstacle_layer.rgbd1_mark.min_obstacle_height: 0.2
3d_obstacle_layer.rgbd1_mark.min_z: 0
3d_obstacle_layer.rgbd1_mark.model_type: 0
3d_obstacle_layer.rgbd1_mark.observation_persistence: 0
3d_obstacle_layer.rgbd1_mark.obstacle_range: 2.5
3d_obstacle_layer.rgbd1_mark.sensor_frame: ""
3d_obstacle_layer.rgbd1_mark.topic: "/osg_1/custom_camera/custom_points"
3d_obstacle_layer.rgbd1_mark.vertical_fov_angle: 0.7
3d_obstacle_layer.rgbd1_mark.vertical_fov_padding: 0
3d_obstacle_layer.rgbd1_mark.voxel_filter: True
3d_obstacle_layer.track_unknown_space: True
3d_obstacle_layer.transform_tolerance: 0.2
3d_obstacle_layer.update_footprint_enabled: True
3d_obstacle_layer.voxel_decay: 2
3d_obstacle_layer.voxel_size: 0.05
always_send_full_costmap: True
clearable_layers: ["obstacle_layer"]
footprint: "[]"
footprint_padding: 0.01
global_frame: "odom"
height: 10
inflation_layer.cost_scaling_factor: 3
inflation_layer.enabled: True
inflation_layer.inflate_unknown: False
inflation_layer.inflation_radius: 0.55
lethal_cost_threshold: 100
map_topic: "/osg_1/map"
observation_sources: ""
obstacle_layer.combination_method: 1
obstacle_layer.enabled: True
obstacle_layer.footprint_clearing_enabled: True
obstacle_layer.max_obstacle_height: 2
obstacle_layer.observation_sources: "scan"
obstacle_layer.scan.clearing: True
obstacle_layer.scan.data_type: "LaserScan"
obstacle_layer.scan.expected_update_rate: 0
obstacle_layer.scan.inf_is_valid: False
obstacle_layer.scan.marking: True
obstacle_layer.scan.max_obstacle_height: 2
obstacle_layer.scan.min_obstacle_height: 0
obstacle_layer.scan.observation_persistence: 0
obstacle_layer.scan.obstacle_range: 20
obstacle_layer.scan.raytrace_range: 21
obstacle_layer.scan.sensor_frame: ""
obstacle_layer.scan.topic: "/osg_1/scan"
origin_x: 0
origin_y: 0
plugin_names: ["obstacle_layer", "3d_obstacle_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::ObstacleLayer", "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer", "nav2_costmap_2d::InflationLayer"]
publish_frequency: 1
resolution: 0.05
robot_base_frame: "base_link"
robot_radius: 0.8
rolling_window: True
track_unknown_space: False
transform_tolerance: 0.3
trinary_costmap: True
unknown_cost_value: 255
update_frequency: 5
use_maximum: False
use_sim_time: True
width: 10
Originally posted by madmax on ROS Answers with karma: 496 on 2019-12-20
Post score: 0
