[Closed] ROSbot 2 Pro - Rosbot-Navigation Goal Not Reached

1

Hi!!

I am trying to use the reference projects you suggest in the ROSbot 2 Pro tutorial site, and I am having problems with the rosbot-navigation repository. I tried the repository using both RMW_IMPLEMENTATION=rmw_fastrtps_cpp and RMW_IMPLEMENTATION=rmw_cyclonedds_cpp, different problems appear with each configuration.

  1. RMW_IMPLEMENTATION=rmw_fastrtps_cpp
    When I execute the repository, everything seems it’s working, I am able to set the 2D Pose Estimate, but when I try to set a 2D Goal Pose, the robot does make an attempt to go to that goal I sent him, but it doesn’t reach the goal properly. Actually, the robot starts moving doing circles or goes to another point of the room without avoiding the obstacles. From what I read in the terminal messages, which I will paste below, the robot loses his transformations and the information on the laser. What I don’t understand is why is the robot crashing with objects of the room if the Infrared distance sensors are on.
    …
    ROSbot’s Terminal
    rosbot-navigation-localization-1 | [amcl-2] [INFO] [1676454775.267518203] [amcl]: Message Filter dropping message: frame 'laser' at time 1676454774.229 for reason 'the timestamp on the message is earlier than all the data in the transform cache' rosbot-navigation-localization-1 | [amcl-2] [INFO] [1676454775.308368940] [amcl]: Message Filter dropping message: frame 'laser' at time 1676454774.329 for reason 'discarding message because the queue is full' rosbot-navigation-navigation-1 | [planner_server-3] [INFO] [1676454881.664642976] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1676454881.295 for reason 'the timestamp on the message is earlier than all the data in the transform cache' rosbot-navigation-navigation-1 | [controller_server-1] [INFO] [1676454827.798422664] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist rosbot-navigation-navigation-1 | [planner_server-3] [INFO] [1676454839.736325008] [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 rosbot-navigation-navigation-1 | [controller_server-1] [INFO] [1676454846.485994112] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1676454845.963 for reason 'the timestamp on the message is earlier than all the data in the transform cache' rosbot-navigation-rosbot-1 | [ekf_node-3] Failed to meet update rate! Took 0.068766707999999995837seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors. rosbot-navigation-navigation-1 | [controller_server-1] e[37;1m2023-02-15 09:54:54.292 e[31;1m[e[37;1mRTPS_MSG_INe[31;1m Error] e[37m(ID:139850393425472) Problem reserving CacheChange in reader: 01.0f.7d.1e.2b.00.1b.e8.01.00.00.00|0.0.39.4e[34;1m -> Function e[36mprocessDataMsge[m rosbot-navigation-navigation-1 | [behavior_server-4] e[37;1m2023-02-15 09:54:57.070 e[31;1m[e[37;1mRTPS_MSG_INe[31;1m Error] e[37m(ID:140155719857728) Problem reserving CacheChange in reader: 01.0f.7d.1e.31.00.1c.cf.01.00.00.00|0.0.1f.4e[34;1m -> Function e[36mprocessDataMsge[m rosbot-navigation-navigation-1 | [lifecycle_manager-8] e[37;1m2023-02-15 09:55:59.522 e[31;1m[e[37;1mRTPS_MSG_INe[31;1m Error] e[37m(ID:140660290696768) Problem reserving CacheChange in reader: 01.0f.7d.1e.39.00.28.a3.01.00.00.00|0.0.3a.4e[34;1m -> Function e[36mprocessDataMsge[m
  1. RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    When I execute the repository, everything seems it’s working, I am able to set the 2D Pose Estimate, but when I try to set a 2D Goal Pose, the robot doesn’t go to that goal at all, it doesn’t even make an attempt, it stays in the same point without moving. I append you the messages in my robot’s and PC’s terminal:
    …
    ROSbot’s terminal:
    rosbot-navigation-localization-1 | [amcl-2] [INFO] [1676455493.882557451] [amcl]: Message Filter dropping message: frame 'laser' at time 1676455493.105 for reason 'discarding message because the queue is full' rosbot-navigation-rosbot-1 | [ekf_node-3] Failed to meet update rate! Took 0.075905091999999993457seconds. Try decreasing the rate, limiting sensor output frequency, or limiting the number of sensors. rosbot-navigation-navigation-1 | [controller_server-1] [INFO] [1676455809.758164324] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1676455809.258 for reason 'the timestamp on the message is earlier than all the data in the transform cache' rosbot-navigation-navigation-1 | [planner_server-3] [INFO] [1676455812.749397252] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1676455812.347 for reason 'the timestamp on the message is earlier than all the data in the transform cache' rosbot-navigation-navigation-1 | [lifecycle_manager-8] [ERROR] [1676455817.733030814] [lifecycle_manager_navigation]: Server planner_server was unable to be reached after 4.00s by bond. This server may be misconfigured. rosbot-navigation-navigation-1 | [lifecycle_manager-8] [ERROR] [1676455817.733541980] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup. rosbot-navigation-navigation-1 | [ERROR] [lifecycle_manager-8]: process has died [pid 57, exit code -6, cmd '/opt/ros/humble/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args --log-level info --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_s_81r9ey --params-file /tmp/launch_params_wr0aayi5 --params-file /tmp/launch_params_66yq2ju8']. rosbot-navigation-navigation-1 | [lifecycle_manager-8] terminate called after throwing an instance of 'statemap::TransitionUndefinedException'
    …
    Computer’s Terminal
    rosbot-navigation-rviz-1 | [ERROR] [1676455907.882112266] [rviz2]: Lookup would require extrapolation into the future. Requested time 1676455907.860353 but the latest data is at time 1676455907.831494, when looking up transform from frame [laser] to frame [map]

I hope I have explained myself properly and that the problem is well exposed. I couldn’t send the whole log-files so if you need them, just let me know.

Thanks in advanced,
Itsasne

2

Hello @Itsasne

What OS Image do you use in your ROSbot 2 PRO? Default, or one of those?

Also, what is the Serial Number (S/N) of your robot?

Best regards
Jan Brzyk

3

Hi @JanBrzyk

I am using the ROS2 Foxy image in my robot, the one you provide in the manual.

The Serial Number of my robot is 380309.

Best regards,

Itsasne

4

Hello @Itsasne,

You can send full logs from launch attempts (e.g. in a private message to me on Husarion Community).

In addition, you can add what network configuration you are using. Are you connected via wifi? Ethernet? Maybe Husarnet VPN?

Just to make sure that after many tries the demo doesn’t want to run with the same errors every time?

Best regards
Jan Brzyk

5

Hi @JanBrzyk

I will try to send you the logs from launch attempts as soon as possible.

I am connecting with the robot via WIFI.

Best regards,

Itsasne

6

Hello @Itsasne

in the meantime try to launch this example while connected to your ROSbot with the Ethernet cable.

Best regards
Jan Brzyk