Mrmara's profile - activity

You are remapping the name of the node if you use the name arguments: Node( package='control',

State Machine Library c++/ROS2 Hi all, I need to implement inside my autonomous driving robot a state machine in order

I have a similar problem but with RCLCPP, following this question

After different trials, I found that slightly increasing the PathFollowCritic cost_weight the maximum reached velocity s

Just thinking out loud, I am not even 100% sure I understood what an ABI is. Isn't it possible that like inflation_radiu

Just thinking out loud, I am not even 100% sure I understood what an ABI is. Isn't it possible that like inflation_radiu

Just thinking out loud, I am not even 100% sure I understood what an ABI is. Isn't it possible that like inflation_radiu

MPPI nav2 controller max speed never reached Hello, I recently started using the new MPPI controller. Everything seems t

Thank you for your answer. I was aware of the possible speed limitation that the local costmap size may introduce, but i

Update: I have been able to use all critics with acceptable and sensed parameter values. The user experience is still l

With this set of params MPPI does not drive faster than 0.52 m/s plugin: "nav2_mppi_controller::MPPIController" ti

Update: I have been able to use all critics with acceptable and sensed parameter values. The user experience is still l

Update: I have been able to use all critics with acceptable and sensed parameter values. The user experience is still l

*Update: * I have been able to use all critics with acceptable and sensed parameter values. The user experience is stil

Update: Apparently it is just an issue of DWB. with controller_plugins: ["RPP","TEB","MPPI"] no errors pops up

[ROS2] Multiple controller plugins error I would like to load multiple controller_plugins in the controller server, e.g.

Update: Apparently it is just an issue of DWB. with controller_plugins: ["Pursuit","TEB","Mppi"] no errors pops up

Update: I have been able to use all critics with acceptable and sensed parameter values. The user experience is still le

MPPI nav2 controller max speed never reached Hello, I recently started using the new MPPI controller. Everything seems t

MPPI nav2 controller max speed never reached Hello, I recently started using the new MPPI controller. Everything seems t

[ROS2] Multiple controller plugins error I would like to load multiple controller_plugins in the controller server, e.g.

Hi,

I recently decided to use the bt proposed by Nav2 from Humble, Navigate To Pose With Consistent Replanning And If Path Becomes Invalid.

When I start the bt the following error pops up.

[bt_navigator-1] [ERROR] [bt_navigator]: Exception when loading BT: Error at line 13: -> Node not recognized: PathExpiringTimer 
[bt_navigator-1] [ERROR] [bt_navigator]: Error loading XML file: config_nav2/bt_navigator.xml

This log regards PathExpirinTimer node but I obtain the same error aso for "GlobalUpdatedGoal" and "IsPathValid".

I suspect something related with nav2_tree_nodes.xml but cannot manage the error.

I currently have installed release 1.1.5 from DEB, which should be the last one. I am usgin ROS2 humble and ubuntu 22.04

[ROS2] Bt_navigator Node not recognized Hi, I recently decided to use the bt proposed by Nav2 from Humble, Navigate To

Yes my bad, I am going to correct the question. Anyway I realized the problem. Just forgot to add inside bt_navigator pa

[ROS2] Bt_navigator Node not recognized Hi, I recently decided to use the bt proposed by Nav2 from Humble, Navigate To

[ROS2] Bt_navigator Node not recognized Hi, I recently decided to use the bt proposed by Nav2 from Humble, Navigate To

[ROS2] Bt_navigator Node not recognized Hi, I recently decided to use the bt proposed by Nav2 from Humble, Navigate To

Yes my bad. Anyway I realized the problem. Just forgot to add inside bt_navigator params plugin_lib_names those specific

[ROS2] Bt_navigator Node not recognized Hi, I recently decided to use the bt proposed by Nav2 from Humble, Navigate To

[ROS2] Bt_navigator Node not recognized Hi, I recently decided to use the bt proposed by Nav2 from Humble, Navigate To

Hello,

I am trying to find a way to update a goal passed to the action /navigate_to_pose since calling a new action would result in aborting the previous one. I found the bt plugin GoalUpdater which should do the magic but when I try to use it basically nothing happens when I publish on /goal_update topic.

ROS_DISTRO: galactic UBUNTU: 20.04

bt_navigator.xml: <root main_tree_to_execute="MainTree">

<BehaviorTree ID="MainTree">
    <Sequence name="Test">
        <ClearEntireCostmap name="ClearLocalCostmap-test" service_name="local_costmap/clear_entirely_local_costmap"/>
      <ClearEntireCostmap name="ClearGlobalCostmap-test" service_name="global_costmap/clear_entirely_global_costmap"/>
      <Wait wait_duration="1"/>
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
    <PipelineSequence name="NavigateWithReplanning">
      <RateController hz="10.0">
        <RecoveryNode number_of_retries="1" name="ComputePathToPose">
          <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
          </GoalUpdater>
          <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
        </RecoveryNode>
      </RateController>
      <RecoveryNode number_of_retries="1" name="DynamicFollowPath">
        <FollowPath path="{path}" controller_id="DynamicFollowPath"/>
        <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
      </RecoveryNode>
    </PipelineSequence>
  <ReactiveFallback name="RecoveryFallback">
    <GoalUpdated/>
    <SequenceStar name="RecoveryActions">
      <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
      <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
      <Wait wait_duration="1"/>
    </SequenceStar>
  </ReactiveFallback>
</RecoveryNode>
</Sequence>

</behaviortree> </root>