navigation 문의 > STELLA_N5_Forum

안녕하세요.

아이디어 로봇입니다.

우선 rviz에서 보이는 로봇의 위치가 맵 상에서 벽으로 인식되는 곳에 있습니다.
이러한 경우 네비게이션이 조금만 이동하여도 벽에 충돌한다고 판단하여 경로를 생성하지 못합니다.

실제 로봇이 위치하고 있는 위치에 2D Pose로 로봇을 위치하고 확인하여 주세요.

[rviz2-3] Start navigation
[rviz2-3] [INFO] [1761279273.235603776] [rviz_navigation_dialog_action_client]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[component_container_isolated-2] [INFO] [1761279273.236379572] [bt_navigator]: Begin navigating from current location (1.98, -3.05) to (1.97, -1.42)
[component_container_isolated-2] [WARN] [1761279273.238341964] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279273.238471247] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279273.256948416] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-2] [WARN] [1761279273.337898249] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279273.337985118] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279273.356995453] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-2] [INFO] [1761279273.357273310] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-2] [WARN] [1761279274.338342113] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279274.338430870] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279274.356846058] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-2] [WARN] [1761279275.337852439] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279275.337928047] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279275.357314551] [behavior_server]: Running spin
[component_container_isolated-2] [INFO] [1761279275.357477293] [behavior_server]: Turning 1.57 for spin behavior.
[component_container_isolated-2] [INFO] [1761279275.359249655] [collision_monitor]: Robot to approach for 1.200000 seconds away from collision
[rviz2-3] [INFO] [1761279277.090993876] [rviz2]: Message Filter dropping message: frame 'odom' at time 1761279267.934 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-3] [INFO] [1761279277.190694284] [rviz2]: Message Filter dropping message: frame 'odom' at time 1761279268.110 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-3] [INFO] [1761279277.190814823] [rviz2]: Message Filter dropping message: frame 'odom' at time 1761279268.072 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [WARN] [1761279285.357626723] [behavior_server]: Exceeded time allowance before reaching the Spin goal - Exiting Spin
[component_container_isolated-2] [WARN] [1761279285.357673163] [behavior_server]: spin failed
[component_container_isolated-2] [WARN] [1761279285.357692357] [behavior_server]: [spin] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279285.377083762] [behavior_server]: Running wait
[component_container_isolated-2] [INFO] [1761279285.659000094] [collision_monitor]: Robot to continue normal operation
[component_container_isolated-2] [INFO] [1761279290.377314306] [behavior_server]: wait completed successfully
[component_container_isolated-2] [WARN] [1761279290.397602206] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279290.397673790] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279290.416967420] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-2] [WARN] [1761279291.337926645] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279291.338014473] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279291.357186729] [behavior_server]: Running backup
[component_container_isolated-2] [WARN] [1761279291.357520607] [behavior_server]: Collision Ahead - Exiting DriveOnHeading
[component_container_isolated-2] [WARN] [1761279291.357550690] [behavior_server]: backup failed
[component_container_isolated-2] [WARN] [1761279291.357564996] [behavior_server]: [backup] [ActionServer] Aborting handle.
[component_container_isolated-2] [INFO] [1761279291.376809333] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-2] [INFO] [1761279291.377082176] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-2] [WARN] [1761279292.338195085] [planner_server]: GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
[component_container_isolated-2] [WARN] [1761279292.338266558] [planner_server]: [compute_path_to_pose] [ActionServer] Aborting handle.


위치를 아무리 바꿔도 goal로 향하지 않네요

rviz를 확인하여 보시면 로봇 주변에 초록색 원이 보입니다.

네비게이션은 해당 원의 안쪽에 장애물이 없어야 로봇이 안전하게 주행할 수 있다고 판단합니다.

현재 발생하고 있는 경고 메시지를 확인하시면
GridBased plugin failed to plan from (1.98, -3.05) to (1.97, -1.42): "Failed to create plan with tolerance of: 0.500000"
현재 로봇의 위치 혹은 목적지의 위치에 원 반경(50cm) 이내 장애물이 있는 것으로 판단되어 경로를 생성할 수 없다는 의미의 경고가 표시됩니다.

이 경우 맵에 장애물이 그려진 곳에 로봇이 위치하거나 목적지로 지정한 곳의 맵에 장애물이 있어서 발생할 수 있고

맵에 문제가 없는 경우 라이다가 장애물을 인식하고 있는 것입니다.

현재 첨부된 rviz 사진을 보시면 노란색 laserscan이 로봇 위에 그려져 있는 것으로 보여 라이다가 감지하고 있는 물체로 인해 주행이 안될 수 있습니다.

하단의 선들을 정리하고 장애물을 제거 하였더니 주행이 정상적으로 됩니다. 감사합니다 !