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    各位大佬救救孩子吧 卡了快一个月了 NAV2 2D pose estimate后不显示(全局 局部)代价地图

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    综合问题
    nav2 代价地图不显示 no map received
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    • Q
      qrrbreak
      最后由 编辑

      使用鱼哥第七章的fishbot_navigation2功能包想做实体小车导航。问题是2D pose estimate后全局代价地图和局部代价地图始终不显示,请鱼哥和各位大佬看看我朝哪个方向排查:

      详细描述如下:
      1.版本:ROS2 jazzy ubuntu24.04 树莓派5。激光雷达是实体单线雷达 自己搓的麦轮小车,能发布里程计(自己测试还挺准的)
      2.使用里程计小车能找到自己的位置,配合雷达能完成家里客厅的简单建图
      3.nav2_params.yaml 和 navigation2.launch.py(这个launch里调用了nav2_bringup,传参是map_yaml_path,use_sim_time,和yaml文件路径)是在鱼哥的基础上改的,主要修改的1)use_sim_time: False 2)没有URDF,所以发布了一个 1hz的base_footprint->base_link->laser的TF 3)其他小的参数改动
      4.运行navigation2.launch.py后,查看TF都正常,2Dpose estimate后能看到周围有粒子(看样子负责定位的自适应蒙特卡洛粒子滤波起作用了),但是代价地图(全局 局部)都不显示 代价地图模块说no map received
      5.显然在代价地图说收不到map的情况下点NAV2 GOAL也是无效的 terminal说 没有设置起始位置(但是其实我设置了)

      6 补充:我在目前的基础上丧心病狂的再运行一下ros2 launch nav2_bringup navigation_launch.py 代价地图就有了(代价有点大 我家客厅有点小😕 ),但是NAV2 GOAL还是失败

      请各位大佬指点一二,帮我看看我的问题可能在哪:

      **问题1 我没有代价地图的问题可能在哪?
      初始位置没设置对?(AMCL模块正常,TF显示map->odom)
      代价地图的YAML没配置对?(我跑鱼哥的yaml仿真能跑,仅仅改了footprint坐标系和仿真时间)
      为什么我运行ros2 launch nav2_bringup navigation_launch.py 能出代价地图?

      问题2 我运行ros2 launch nav2_bringup navigation_launch.py 显然是不应该有的做法,让节点重复发布了。这时候不能导航仅仅是因为节点重复发布的原因吗?还是我还有一些别的没做对?**

      Screenshot 2025-06-29 121845.png
      这是点2d pose estimate后的结果
      Screenshot 2025-06-29 134036.png
      这是此时的TF
      TOPIC_RQT.png
      这是此时的节点
      状态反馈qt.png
      这是小车反馈信息 里程计发布应该都正常(这个图是我后截取的,用遥控器控制小车 确认小车发布的里程计有效)
      问题描述.png
      这个是再没有代价地图的情况下强行点NAV2GOAL的结果
      Screenshot 2025-06-29 143155.png
      这个是运行一遍ros2 launch nav2_bringup navigation_launch.py 后的结果,注意此时节点几乎都存在两个同名节点,不知道不能导航是否和同名节点有关,但是起码运行这个显示代价地图了
      Screenshot 2025-06-29 143330.png
      这个是在运行ros2 launch nav2_bringup navigation_launch.py后有代价地图 点NAV2 goal的结果

      下面是我的nav2_params.yaml
      amcl:
      ros__parameters:
      use_sim_time: False
      alpha1: 0.2
      alpha2: 0.2
      alpha3: 0.2
      alpha4: 0.2
      alpha5: 0.2
      base_frame_id: "base_footprint"
      beam_skip_distance: 0.5
      beam_skip_error_threshold: 0.9
      beam_skip_threshold: 0.3
      do_beamskip: false
      global_frame_id: "map"
      lambda_short: 0.1
      laser_likelihood_max_dist: 2.0
      laser_max_range: 100.0
      laser_min_range: -1.0
      laser_model_type: "likelihood_field"
      max_beams: 60
      max_particles: 2000
      min_particles: 500
      odom_frame_id: "odom"
      pf_err: 0.05
      pf_z: 0.99
      recovery_alpha_fast: 0.0
      recovery_alpha_slow: 0.0
      resample_interval: 1
      robot_model_type: "nav2_amcl::DifferentialMotionModel"
      save_pose_rate: 0.5
      sigma_hit: 0.2
      tf_broadcast: true
      transform_tolerance: 1.0
      update_min_a: 0.2
      update_min_d: 0.25
      z_hit: 0.5
      z_max: 0.05
      z_rand: 0.5
      z_short: 0.05
      scan_topic: scan

      bt_navigator:
      ros__parameters:
      use_sim_time: False
      global_frame: map
      robot_base_frame: base_footprint
      odom_topic: /odom
      bt_loop_duration: 10
      default_server_timeout: 20
      # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
      # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
      # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
      # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
      plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_assisted_teleop_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_bt_node
      - nav2_clear_costmap_service_bt_node
      - nav2_is_stuck_condition_bt_node
      - nav2_goal_reached_condition_bt_node
      - nav2_goal_updated_condition_bt_node
      - nav2_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_condition_bt_node
      - nav2_initial_pose_received_condition_bt_node
      - nav2_reinitialize_global_localization_service_bt_node
      - nav2_rate_controller_bt_node
      - nav2_distance_controller_bt_node
      - nav2_speed_controller_bt_node
      - nav2_truncate_path_action_bt_node
      - nav2_truncate_path_local_action_bt_node
      - nav2_goal_updater_node_bt_node
      - nav2_recovery_node_bt_node
      - nav2_pipeline_sequence_bt_node
      - nav2_round_robin_node_bt_node
      - nav2_transform_available_condition_bt_node
      - nav2_time_expired_condition_bt_node
      - nav2_path_expiring_timer_condition
      - nav2_distance_traveled_condition_bt_node
      - nav2_single_trigger_bt_node
      - nav2_goal_updated_controller_bt_node
      - nav2_is_battery_low_condition_bt_node
      - nav2_navigate_through_poses_action_bt_node
      - nav2_navigate_to_pose_action_bt_node
      - nav2_remove_passed_goals_action_bt_node
      - nav2_planner_selector_bt_node
      - nav2_controller_selector_bt_node
      - nav2_goal_checker_selector_bt_node
      - nav2_controller_cancel_bt_node
      - nav2_path_longer_on_approach_bt_node
      - nav2_wait_cancel_bt_node
      - nav2_spin_cancel_bt_node
      - nav2_back_up_cancel_bt_node
      - nav2_assisted_teleop_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node
      - nav2_is_battery_charging_condition_bt_node

      bt_navigator_navigate_through_poses_rclcpp_node:
      ros__parameters:
      use_sim_time: False

      bt_navigator_navigate_to_pose_rclcpp_node:
      ros__parameters:
      use_sim_time: False

      controller_server:
      ros__parameters:
      use_sim_time: False
      controller_frequency: 20.0
      min_x_velocity_threshold: 0.001
      min_y_velocity_threshold: 0.5
      min_theta_velocity_threshold: 0.001
      failure_tolerance: 0.3
      progress_checker_plugin: "progress_checker"
      goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
      controller_plugins: ["FollowPath"]

      # Progress checker parameters
      progress_checker:
        plugin: "nav2_controller::SimpleProgressChecker"
        required_movement_radius: 0.5
        movement_time_allowance: 10.0
      # Goal checker parameters
      #precise_goal_checker:
      #  plugin: "nav2_controller::SimpleGoalChecker"
      #  xy_goal_tolerance: 0.25
      #  yaw_goal_tolerance: 0.25
      #  stateful: True
      general_goal_checker:
        stateful: True
        plugin: "nav2_controller::SimpleGoalChecker"
        xy_goal_tolerance: 0.25
        yaw_goal_tolerance: 0.25
      # DWB parameters
      FollowPath:
        plugin: "dwb_core::DWBLocalPlanner"
        debug_trajectory_details: True
        min_vel_x: 0.0
        min_vel_y: 0.0
        max_vel_x: 0.26
        max_vel_y: 0.0
        max_vel_theta: 1.0
        min_speed_xy: 0.0
        max_speed_xy: 0.26
        min_speed_theta: 0.0
        # Add high threshold velocity for turtlebot 3 issue.
        # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
        acc_lim_x: 2.5
        acc_lim_y: 0.0
        acc_lim_theta: 3.2
        decel_lim_x: -2.5
        decel_lim_y: 0.0
        decel_lim_theta: -3.2
        vx_samples: 20
        vy_samples: 5
        vtheta_samples: 20
        sim_time: 1.7
        linear_granularity: 0.05
        angular_granularity: 0.025
        transform_tolerance: 0.2
        xy_goal_tolerance: 0.25
        trans_stopped_velocity: 0.25
        short_circuit_trajectory_evaluation: True
        stateful: True
        critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
        BaseObstacle.scale: 0.02
        PathAlign.scale: 32.0
        PathAlign.forward_point_distance: 0.1
        GoalAlign.scale: 24.0
        GoalAlign.forward_point_distance: 0.1
        PathDist.scale: 32.0
        GoalDist.scale: 24.0
        RotateToGoal.scale: 32.0
        RotateToGoal.slowing_factor: 5.0
        RotateToGoal.lookahead_time: -1.0
      

      local_costmap:
      local_costmap:
      ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      transform_tolerance: 1.0
      global_frame: odom
      robot_base_frame: base_footprint
      use_sim_time: False
      rolling_window: true
      static_map: true
      width: 1
      height: 1
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
      plugin: "nav2_costmap_2d::InflationLayer"
      cost_scaling_factor: 3.0
      inflation_radius: 0.25
      voxel_layer:
      plugin: "nav2_costmap_2d::VoxelLayer"
      enabled: True
      publish_voxel_map: True
      origin_z: 0.0
      z_resolution: 0.05
      z_voxels: 16
      max_obstacle_height: 2.0
      mark_threshold: 0
      observation_sources: scan
      scan:
      topic: /scan
      max_obstacle_height: 2.0
      clearing: True
      marking: True
      data_type: "LaserScan"
      raytrace_max_range: 3.0
      raytrace_min_range: 0.0
      obstacle_max_range: 2.5
      obstacle_min_range: 0.0
      static_layer:
      map_topic: /map
      plugin: "nav2_costmap_2d::StaticLayer"
      map_subscribe_transient_local: True
      always_send_full_costmap: True

      global_costmap:
      global_costmap:
      ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      map_topic: /map
      global_frame: map
      robot_base_frame: base_footprint
      use_sim_time: False
      robot_radius: 0.12
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
      plugin: "nav2_costmap_2d::ObstacleLayer"
      enabled: True
      observation_sources: scan
      scan:
      topic: /scan
      max_obstacle_height: 2.0
      clearing: True
      marking: True
      data_type: "LaserScan"
      raytrace_max_range: 3.0
      raytrace_min_range: 0.0
      obstacle_max_range: 2.5
      obstacle_min_range: 0.0
      static_layer:
      map_topic: /map
      plugin: "nav2_costmap_2d::StaticLayer"
      map_subscribe_transient_local: True
      track_unknown_space: true
      inflation_layer:
      plugin: "nav2_costmap_2d::InflationLayer"
      cost_scaling_factor: 3.0
      inflation_radius: 0.25
      always_send_full_costmap: True

      map_server:
      ros__parameters:
      use_sim_time: False
      topic_name: "map"
      # Overridden in launch by the "map" launch configuration or provided default value.
      # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
      yaml_filename: ""

      map_saver:
      ros__parameters:
      use_sim_time: False
      save_map_timeout: 5.0
      free_thresh_default: 0.25
      occupied_thresh_default: 0.65
      map_subscribe_transient_local: True

      planner_server:
      ros__parameters:
      expected_planner_frequency: 20.0
      use_sim_time: False
      planner_plugins: ["GridBased"]
      GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

      smoother_server:
      ros__parameters:
      use_sim_time: False
      smoother_plugins: ["simple_smoother"]
      simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

      behavior_server:
      ros__parameters:
      costmap_topic: local_costmap/costmap_raw
      footprint_topic: local_costmap/published_footprint
      cycle_frequency: 10.0
      behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
      spin:
      plugin: "nav2_behaviors/Spin"
      backup:
      plugin: "nav2_behaviors/BackUp"
      drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
      wait:
      plugin: "nav2_behaviors/Wait"
      assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
      global_frame: odom
      robot_base_frame: base_footprint
      transform_tolerance: 0.1
      use_sim_time: False
      simulate_ahead_time: 2.0
      max_rotational_vel: 1.0
      min_rotational_vel: 0.4
      rotational_acc_lim: 3.2

      robot_state_publisher:
      ros__parameters:
      use_sim_time: False

      waypoint_follower:
      ros__parameters:
      use_sim_time: False
      loop_rate: 20
      stop_on_failure: false
      waypoint_task_executor_plugin: "wait_at_waypoint"
      wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

      velocity_smoother:
      ros__parameters:
      use_sim_time: False
      smoothing_frequency: 20.0
      scale_velocities: False
      feedback: "OPEN_LOOP"
      max_velocity: [0.26, 0.0, 1.0]
      min_velocity: [-0.26, 0.0, -1.0]
      max_accel: [2.5, 0.0, 3.2]
      max_decel: [-2.5, 0.0, -3.2]
      odom_topic: "odom"
      odom_duration: 0.1
      deadband_velocity: [0.0, 0.0, 0.0]
      velocity_timeout: 1.0

      下面是navigation2.launch.py
      import os
      from ament_index_python.packages import get_package_share_directory
      from launch import LaunchDescription
      from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, TimerAction
      from launch.substitutions import LaunchConfiguration
      from launch.launch_description_sources import PythonLaunchDescriptionSource
      from launch_ros.actions import Node

      def generate_launch_description():
      # 获取包路径
      fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
      nav2_bringup_dir = get_package_share_directory('nav2_bringup')

      # 配置文件路径
      map_yaml_path = os.path.join(fishbot_navigation2_dir, 'maps', 'room.yaml')
      nav2_param_path = os.path.join(fishbot_navigation2_dir, 'config', 'nav2_params.yaml')
      rviz_config_path = os.path.join(nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
      
      # Launch参数
      use_sim_time = LaunchConfiguration('use_sim_time', default='false')
      
      return LaunchDescription([
          # 声明参数
          DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation time'),
          DeclareLaunchArgument('map', default_value=map_yaml_path, description='Path to map YAML file'),
          DeclareLaunchArgument('params_file', default_value=nav2_param_path, description='Path to Nav2 parameters file'),
      
          # 关键修改1:使用bringup_launch.py并传递所有必要参数
          IncludeLaunchDescription(
              PythonLaunchDescriptionSource([
                  nav2_bringup_dir, '/launch/bringup_launch.py'
              ]),
              launch_arguments={
                  'map': map_yaml_path,  # 必须保留地图路径
                  'use_sim_time': use_sim_time,
                  'params_file': nav2_param_path,
                  'autostart': 'true',
                  'enable_rviz': 'false'
              }.items(),
          ),
      
          # 关键修改2:简化TF发布节点
          Node(
              package='fishbot_navigation2',
              executable='tf_publisher_1hz.py',
              name='tf_publisher_1hz',
              output='screen',
              parameters=[{
                  'use_sim_time': use_sim_time,
                  'frame_ids': ['map', 'odom', 'base_link'],
                  'parent_frames': ['', 'map', 'odom'],
                  'publish_rate': '10.0'
              }]
          ),
      
          # 启动RViz2(延迟5秒确保所有节点就绪)
          TimerAction(
              period=5.0,
              actions=[
                  Node(
                      package='rviz2',
                      executable='rviz2',
                      name='rviz2',
                      arguments=['-d', rviz_config_path],
                      parameters=[{'use_sim_time': use_sim_time}],
                      output='screen'
                  )
              ]
          )
      ])
      

      请各位帮忙看看,卡很久了这里 GPT给的方法几乎都试了,无果。

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