Isaac 2022.2.0 Humble Navigation error

[nvidia-orin]

I can run the isaac ros2-carter-navigation with ROS2 foxy with omni.isaac.ros2_bridge or omni.isaac.ros2_bridge-humble.

But when I run the ros2-carter-navigation with any of the ros2 bridges, I get the errors during the launch.

[component_container_isolated-2] [INFO] [1676350700.602832916] [amcl]: Subscribed to map topic.
[component_container_isolated-2] [INFO] [1676350700.603284089] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/waypoint_follower’ in container ‘nav2_container’
[component_container_isolated-2] [ERROR] [1676350700.604228304] : Caught exception in callback for transition 10
[component_container_isolated-2] [ERROR] [1676350700.604244050] : Original error: According to the loaded plugin descriptions the class differential with base class type nav2_amcl::MotionModel does not exist. Declared types are nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel
[component_container_isolated-2] [WARN] [1676350700.604261315] : Error occurred while doing error handling.
[component_container_isolated-2] [FATAL] [1676350700.604270850] [amcl]: Lifecycle node amcl does not have error state implemented
[component_container_isolated-2] [ERROR] [1676350700.604469915] [lifecycle_manager_localization]: Failed to change state for node: amcl
[component_container_isolated-2] [ERROR] [1676350700.604494702] [lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup.
[component_container_isolated-2] [INFO] [1676350700.605806891] [nav2_container]: Load Library: /opt/ros/humble/install/lib/libvelocity_smoother_core.so

Any suggestions/help please?

[nvidia-orin]

It’s working now.

I was using carter_navigation packages that were not working before.

After changing the following in the carter_navigation_params.yaml file , it works.

1 - Under amcl: (change the following)

#robot_model_type: "Differential"
robot_model_type: "nav2_amcl::DifferentialMotionModel"

2 - Under bt_navigator: (Added all the plugins that were missing)

plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node