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AMCL failing when starting Navigation Simulation #884

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5 of 28 tasks
johnpenright opened this issue Jul 4, 2022 · 8 comments
Closed
5 of 28 tasks

AMCL failing when starting Navigation Simulation #884

johnpenright opened this issue Jul 4, 2022 · 8 comments

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@johnpenright
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johnpenright commented Jul 4, 2022 •
edited

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • Burger
    • Waffle
    • Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • ROS 1 Kinetic Kame
    • ROS 1 Melodic Morenia
    • ROS 1 Noetic Ninjemys
    • ROS 2 Dashing Diademata
    • ROS 2 Eloquent Elusor
    • ROS 2 Foxy Fitzroy
    • ROS2 Humble Hawksbill
    • etc (Please specify your ROS Version here)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • Intel Joule 570x
    • Raspberry Pi 3B+
    • Raspberry Pi 4
    • Gazebo Simulation
    • etc (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • Raspbian distributed by ROBOTIS
    • Ubuntu MATE (16.04/18.04/20.04)
    • Ubuntu preinstalled server (18.04/20.04)
    • Gazebo Simulation
    • etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • Ubuntu 16.04 LTS (Xenial Xerus)
    • Ubuntu 18.04 LTS (Bionic Beaver)
    • Ubuntu 20.04 LTS (Focal Fossa)
    • Windows 10
    • MAC OS X (Specify version)
    • Windows 10 + WSL2 + Ubuntu 22.04 (Jammy)
    • etc (Please specify your OS here)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue.

    Running Gazebo simulation tutorials (https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/). Following Foxy instructions, adapted for Humble. The Gazebo process loads fine,

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

but starting the Navigation node gives constant errors.

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml

  1. Copy and Paste the error messages on terminal.

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated-1]: process started with pid [23605]
[INFO] [rviz2-2]: process started with pid [23607]
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-XXXX'
[component_container_isolated-1] [INFO] [1656947648.761198200] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so
[component_container_isolated-1] [INFO] [1656947648.772121000] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-1] [INFO] [1656947648.772207400] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1656947648.772218600] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1656947648.791938300] [map_server]:
[component_container_isolated-1] map_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1656947648.792181200] [map_server]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container 'nav2_container'
[component_container_isolated-1] [INFO] [1656947648.794432300] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so
[component_container_isolated-1] [INFO] [1656947648.801186100] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1656947648.801249400] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1656947648.819238500] [controller_server]:
[component_container_isolated-1] controller_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1656947648.822637400] [controller_server]: Creating controller server
[component_container_isolated-1] [INFO] [1656947648.844968400] [local_costmap.local_costmap]:
[component_container_isolated-1] local_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1656947648.846113600] [local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container 'nav2_container'
[component_container_isolated-1] [INFO] [1656947648.850663300] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so
[component_container_isolated-1] [INFO] [1656947648.854148000] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1656947648.854220200] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1656947648.879898300] [amcl]:
[component_container_isolated-1] amcl lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1656947648.881185400] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container 'nav2_container'
[component_container_isolated-1] [INFO] [1656947648.891174900] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so
[component_container_isolated-1] [INFO] [1656947648.893372400] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1656947648.893433000] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1656947648.917418500] [smoother_server]:
[component_container_isolated-1] smoother_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1656947648.919195000] [smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container 'nav2_container'
[component_container_isolated-1] [INFO] [1656947648.923147100] [nav2_container]: Load Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-1] [INFO] [1656947648.925091500] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1656947648.925170100] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1656947648.947317800] [lifecycle_manager_localization]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container 'nav2_container'
[component_container_isolated-1] [INFO] [1656947648.953012500] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1656947648.953177800] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so
[component_container_isolated-1] [INFO] [1656947648.954279100] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1656947648.954312500] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1656947648.963689900] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1656947648.963886500] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-1] [INFO] [1656947648.964236100] [map_server]: Configuring
[component_container_isolated-1] [INFO] [map_io]: Loading yaml file: /home/john/map.yaml
[component_container_isolated-1] [DEBUG] [map_io]: resolution: 0.05
[component_container_isolated-1] [DEBUG] [map_io]: origin[0]: -1.25
[component_container_isolated-1] [DEBUG] [map_io]: origin[1]: -2.41
[component_container_isolated-1] [DEBUG] [map_io]: origin[2]: 0
[component_container_isolated-1] [DEBUG] [map_io]: free_thresh: 0.25
[component_container_isolated-1] [DEBUG] [map_io]: occupied_thresh: 0.65
[component_container_isolated-1] [DEBUG] [map_io]: mode: trinary
[component_container_isolated-1] [DEBUG] [map_io]: negate: 0
[component_container_isolated-1] [INFO] [map_io]: Loading image_file: /home/john/map.pgm
[component_container_isolated-1] [DEBUG] [map_io]: Read map /home/john/map.pgm: 125 X 116 map @ 0.05 m/cell
[component_container_isolated-1] [INFO] [1656947648.979475000] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-1] [INFO] [1656947648.979708000] [amcl]: Configuring
[component_container_isolated-1] [INFO] [1656947648.979922200] [amcl]: initTransforms
[component_container_isolated-1] [INFO] [1656947649.000404200] [planner_server]:
[component_container_isolated-1] planner_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1656947649.002212500] [planner_server]: Creating
[component_container_isolated-1] [INFO] [1656947649.002235100] [amcl]: initPubSub
[component_container_isolated-1] [INFO] [1656947649.016361600] [amcl]: Subscribed to map topic.
[component_container_isolated-1] [ERROR] [1656947649.025091400] []: Caught exception in callback for transition 10
[component_container_isolated-1] [ERROR] [1656947649.025157400] []: 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-1] [WARN] [1656947649.025191400] []: Error occurred while doing error handling.
[component_container_isolated-1] [FATAL] [1656947649.025208800] [amcl]: Lifecycle node amcl does not have error state implemented
[component_container_isolated-1] [ERROR] [1656947649.025527500] [lifecycle_manager_localization]: Failed to change state for node: amcl
[component_container_isolated-1] [ERROR] [1656947649.025559700] [lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup.

  1. Please describe the issue in detail.

The above failure in configuring AMCL seems to be the key issue. Here are a few other observations:

  • The rViz window appears but does not show the map.
  • Then I get a constant flow of error messages:

[component_container_isolated-1] [INFO] [1656947652.365148100] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

  • Using the view_frames tool, the map node is missing

Maybe this has something to do with the Navigation changes between Foxy and Humble (https://navigation.ros.org/migration/Galactic.html)?
@johnpenright
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So I've made some progress. In the robot param file (waffle_pi.yaml), if I change line 29 from

robot_model_type: "differential"

to

robot_model_type: "nav2_amcl::DifferentialMotionModel"

then rViz will launch and initialize properly.

However I don't seem to be getting a local costmap, even though rViz is confugured to display one. I'm not seeing any clear errors in the logs.

@johnpenright
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After additional digging, it seems like this is related to a known issue with the FastDDS middleware.

There's a temporary fix here or you can install cyclonedds.

@WonsokYoo WonsokYoo mentioned this issue Jul 27, 2022
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@quyetbt2000
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Hi, Thanks for your solution, I'm in the same issue, any explanation for that change?
After following your instruction, any solution to get a local costmap back ?

@johnpenright
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Hi, Thanks for your solution, I'm in the same issue, any explanation for that change? After following your instruction, any solution to get a local costmap back ?

I don't think I needed to do anything specific; I just switched over to the cyclonedds.

@quyetbt2000
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I got
"Message Filter dropping message: frame 'base_scan'/'odom' at time 24.074 for reason 'discarding message because the queue is full'". Is it any way to fix it in src file, and not switch to cyclonedds ( I have no idea about this)

ncdejito added a commit to ncdejito/ros2-nav2-example that referenced this issue Sep 7, 2022
@ncdejito
Fix fail to change state for amcl node
9e27949 
ROBOTIS-GIT/turtlebot3#884 (comment)
@ncdejito
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ncdejito commented Sep 7, 2022

switch to cyclonedds with

sudo apt install ros-<ros-distro>-rmw-cyclonedds-cpp
vim ~/.bashrc
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # insert this line
source ~/.bashrc

when you do ros2 launch, check on separate terminal using ps -eo cmd, should show cyclonedds in --rmw-implementation:

21318 22.0  0.6 535896 55044 pts/8    Sl   16:14   0:00 /usr/bin/python3 /opt/ros/humble/bin/_ros2_daemon --rmw-implementation rmw_cyclonedds_cpp --ros-domain-id 22

source

@sea-bass
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sea-bass commented Oct 29, 2022 •
edited

So I've made some progress. In the robot param file (waffle_pi.yaml), if I change line 29 from

robot_model_type: "differential"

to

robot_model_type: "nav2_amcl::DifferentialMotionModel"

then rViz will launch and initialize properly.

However I don't seem to be getting a local costmap, even though rViz is confugured to display one. I'm not seeing any clear errors in the logs.

Just a heads-up : Even with CycloneDDS, this failed until I fixed the AMCL configuration as above ^^^

According to the official Nav2 documentation, there is a note saying:

Note for users of galactic and earlier
The models are selectable by string key (valid options: “differential”, “omnidirectional”) rather than plugins.

... which is why that everyone going to Humble has this broken. So, we should be using nav2_amcl::DifferentialMotionModel. Will put up a PR.

@sea-bass sea-bass mentioned this issue Oct 29, 2022
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@johnpenright
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sea-bass,

Your results seem to be consistent with my experience. Fixing the AMCL configuration allowed the demo to run, but I didn't get a cost-map without the changing the DDS. This should be a relatively simple PR to resolve.

@leandropineda leandropineda mentioned this issue Dec 22, 2022
Merged
brean added a commit to brean/ros2-turtlebot3-remote-pc-docker that referenced this issue Jan 20, 2023
@brean
fix robot_model_type, see ROBOTIS-GIT/turtlebot3#884
43d1c35
brean added a commit to brean/ros2-turtlebot3-gazebo-docker that referenced this issue Jan 20, 2023
@brean
fix: provide correct robot_model_type, see ROBOTIS-GIT/turtlebot3#884 …
e52941b 
…for details
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@sea-bass @ncdejito @quyetbt2000 @johnpenright