[ROS2 Navigation] Need Help with ROS2 Nav2 Navigation Error

[aiden_kim]

I’m trying to use ROS2 Nav2 for navigation, but I’m running into an error. Could anyone help me figure out what might be wrong? I’m using Isaac Sim 4.2.0 on Windows 11. Any suggestions would be appreciated!

[zhengwang]

Hey @aiden_kim! Thanks for the videos. Could you please elaborate more on the error? Are you referring to the robot stopping at the corner? Is there any log files from running this example? Thanks!

[aiden_kim]

log.txt (629.1 KB)

Thanks for your message! Yes, the error I was referring to involves the robot stopping at the corner. I’ve checked the log files, and I’m attaching them here for further reference. It seems like the issue might be related to a pathfinding error or a control feedback loop problem.

Please let me know if you need more details!

[zhengwang]

Thanks for your log!

I noticed this warning:

[planner_server]: GridBased: failed to create plan with tolerance 0.50.

This usually means that your goal pose is not reachable. This could be due to one of the following reasons:

1. your robot is mislocalized. Robot tends to get mislocalized along hallways because of lack of features
2. your goal pose is not in free cells (check if your map is clean or not)
3. your lidar data is noisy

For 1, you can check if your lidar return matches the walls in the map (it is easier to do that in 2D view)

For 2 and 3, you can turn on both global costmap and local costmap to see if your goal pose is inside free cells or not.

If it is because of 1, you can try to add some boxes along the hallway to increase number of features (also you need to remap the scene)

If it is 2, try to either clean up your map (make sure there is no random black cells in your map image) or avoid non-free cells for the goal pose.

It is less likely to be 3 because your robot is able to move decent amount of distance. (If it is 3, the robot should get stuck in the beginning).

Another workaround you can do is to increase the tolerances if you don’t care if the robot can reach the goal precisely

[aiden_kim]

Thank you for your insights and the detailed response. I’ll go through each of the possible causes you’ve outlined. i will fix it!!! Thank you once again for the thorough guidance.