Robot continues moving when pressing "cancel" button during navigation (happens only sometimes)

[AndreasAZiegler]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.10
• Installation type:
  • binaries
• Version or commit hash:
  • dashing-devel da5360a
• DDS implementation:
  • Fast-RTPS and RTI Connext

Steps to reproduce issue

• Follow steps in https://github.com/ros-planning/navigation2/tree/dashing-devel/nav2_bringup
• Press "cancel" button during navigation

Expected behavior

Robot stops moving.

Actual behavior

Sometimes robots keep moving and starts toddling around after colliding with an obstacle

[crdelsey]

@AndreasAZiegler Can you include the console output? This sounds like something in the nav stack has crashed, preventing us from sending the final 0 velocity command.

[orduno]

I followed the steps above and reproduced the behavior. The console output is:

[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (1.58, -0.65)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[bt_navigator-8] [INFO] [bt_navigator]: Navigation canceled
[dwb_controller-5] [INFO] [dwb_controller]: Goal was canceled. Cancelling and stopping.
[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (1.65, -0.52)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[bt_navigator-8] [INFO] [bt_navigator]: Navigation canceled
[dwb_controller-5] [INFO] [dwb_controller]: Goal was canceled. Cancelling and stopping.
[dwb_controller-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[dwb_controller-5]   what():  goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at /home/caorduno/ros2_ws/src/ros2/rcl/rcl_action/src/rcl_action/goal_handle.c:94
[ERROR] [dwb_controller-5]: process has died [pid 9720, exit code -6, cmd '/home/caorduno/overlay_ws/install/dwb_controller/lib/dwb_controller/dwb_controller __params:=/tmp/tmpqmlbsh4q'].

@AndreasAZiegler is this similar to your console output?

[AndreasAZiegler]

@orduno Yes, my console output is similar.

[bt_navigator-8] [INFO] [bt_navigator]: Begin navigating from current location to (2.09, -1.49)
[dwb_controller-5] [INFO] [dwb_controller]: Received a goal, begin following path
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[dwb_controller-5] [INFO] [dwb_controller]: Preempting the goal. Passing the new path to the planner.
[bt_navigator-8] [INFO] [bt_navigator]: Navigation canceled
[dwb_controller-5] [INFO] [dwb_controller]: Goal was canceled. Cancelling and stopping.
[dwb_controller-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[dwb_controller-5]   what():  goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at /tmp/binarydeb/ros-dashing-rcl-action-0.7.5/src/rcl_action/goal_handle.c:94
[ERROR] [dwb_controller-5]: process has died [pid 8479, exit code -6, cmd '/home/andreasziegler/ros/ros2_turtlebot3_ws/install/dwb_controller/lib/dwb_controller/dwb_controller __params:=/tmp/tmpqs_jcrgi'].

[orduno]

@AndreasAZiegler I've addressed the bug on #918, could you please try it and let me know if that fixes the issue on your side?

[AndreasAZiegler]

@orduno I tried it a couple of times and it seems to work. Thanks.

[orduno]

Closing the issue as #918 was merged.