nav2 teb

大预言家·福尔摩斯·睿

小鱼儿你好，各位大佬好，我使用的的ubuntu20 Galactic
之前我使用的是 apt 安装的 nav2 ，并将 DWA替换成 TEB，并能正常导航，但是今天我使用源码编译安装 nav2后，使用 TEB 无法正常导航，报错如下：

[controller_server-8] [INFO] [1684587635.038695680] [controller_server]: Created controller : FollowPath of type teb_local_planner::TebLocalPlannerROS
[controller_server-8] [INFO] [1684587635.300053773] [controller_server]: Footprint model 'circular' (radius: 0.330000m) loaded for trajectory optimization.
[controller_server-8] [INFO] [1684587635.305885395] [controller_server]: Parallel planning in distinctive topologies disabled.
[controller_server-8] [ERROR] [1684587635.386737872] []: Caught exception in callback for transition 10
[controller_server-8] [ERROR] [1684587635.386827370] []: Original error: basic_string::_M_construct null not valid
[controller_server-8] [WARN] [1684587635.387011823] []: Error occurred while doing error handling.
[controller_server-8] [FATAL] [1684587635.387058905] [controller_server]: Lifecycle node controller_server does not have error state implemented
[lifecycle_manager-13] [ERROR] [1684587635.391708394] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-13] [ERROR] [1684587635.391881931] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

我将 DWB 换回来后可以正常导航，请问这是什么原因呢。
另附上我的 teb 参数：

controller_server:
  ros__parameters:
    odom_topic: /odom
    use_sim_time: True
    controller_frequency: 20.0
    controller_plugin_types: ["teb_local_planner::TebLocalPlannerROS"]
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.1
      yaw_goal_tolerance: 0.08
      stateful: True
    controller_plugins: ["FollowPath"]

    FollowPath:
      plugin: teb_local_planner::TebLocalPlannerROS
      teb_autosize: 1.0
      dt_ref: 0.4
      dt_hysteresis: 0.08
      min_samples: 3
      max_samples: 1000
      global_plan_overwrite_orientation: True                #覆盖全局路径中局部路径点的朝向
      force_reinit_new_goal_dist: 1.0
      allow_init_with_backwards_motion: False                 #允许在开始时想后退来执行轨迹
      max_global_plan_lookahead_dist: 1.3                     #考虑优化的全局计划子集的最大长度（累积欧几里得距离）（如果为0或负数：禁用；长度也受本地Costmap大小的限制）
      global_plan_viapoint_sep: 0.25
      global_plan_prune_distance: 1.0
      exact_arc_length: False                                 #如果为真，规划器在速度、加速度和转弯率计算中使用精确的弧长[->增加的CPU时间]，否则使用欧几里德近似
      feasibility_check_no_poses: 2
      publish_feedback: False
          
      # Robot
              
      max_vel_x: 0.5
      max_vel_x_backwards: 0.1
      max_vel_theta: 1.0 
      acc_lim_x: 1.0
      acc_lim_theta: 1.5
      is_footprint_dynamic: false
      min_turning_radius: 0.0
      
      footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
        type: "circular"
        radius: 0.33 # for type "circular"

      free_goal_vel: False
          
      # Obstacles
          
      min_obstacle_dist: 0.02                             #和障碍物最小距离
      inflation_dist: 0.4                                 #障碍物膨胀距离
      include_costmap_obstacles: True                     #costmap 中的障碍物是否被直接考虑
      costmap_obstacles_behind_robot_dist: 1.0
      obstacle_poses_affected: 15

      dynamic_obstacle_inflation_dist: 0.4             #动态障碍物的膨胀范围
      include_dynamic_obstacles: True                   #是否将动态障碍物预测为速度模型
      legacy_obstacle_association: False                #是否严格遵循局部规划出来的路径，

      costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
      costmap_converter_spin_thread: True
      costmap_converter_rate: 10

      # Optimization
          
      no_inner_iterations: 5
      no_outer_iterations: 4
      optimization_activate: True
      optimization_verbose: False
      penalty_epsilon: 0.07
      obstacle_cost_exponent: 4.0
      weight_max_vel_x: 2.0
      weight_max_vel_theta: 1.0
      weight_acc_lim_x: 1.0
      weight_acc_lim_theta: 1.0
      weight_kinematics_nh: 1000.0
      weight_kinematics_forward_drive: 1000.0
      weight_kinematics_turning_radius: 1.0
      weight_optimaltime: 2.0 # must be > 0
      weight_shortest_path: 0.0
      weight_obstacle: 70.0
      weight_inflation: 0.1
      weight_dynamic_obstacle: 1000.0 # not in use yet
      weight_dynamic_obstacle_inflation: 0.1
      weight_viapoint: 30.0
      weight_adapt_factor: 2.0

      # Homotopy Class Planner

      enable_homotopy_class_planning: False
      enable_multithreading: False
      max_number_classes: 4
      selection_cost_hysteresis: 5.0
      selection_prefer_initial_plan: 1.0
      selection_obst_cost_scale: 1.0
      selection_alternative_time_cost: True

      roadmap_graph_no_samples: 15
      roadmap_graph_area_width: 5.0
      roadmap_graph_area_length_scale: 1.0
      h_signature_prescaler: 0.5
      h_signature_threshold: 0.1
      obstacle_heading_threshold: 0.45
      switching_blocking_period: 0.0
      viapoints_all_candidates: True
      delete_detours_backwards: True
      max_ratio_detours_duration_best_duration: 3.0
      visualize_hc_graph: False
      visualize_with_time_as_z_axis_scale: 0.0

      # Recovery
      
      shrink_horizon_backup: True
      shrink_horizon_min_duration: 10.0
      oscillation_recovery: True
      oscillation_v_eps: 0.1
      oscillation_omega_eps: 0.1
      oscillation_recovery_min_duration: 10.0
      oscillation_filter_duration: 10.0

小鱼

@1157354382 在 nav2 teb 中说：

源码编译安装 nav2后

估计是源码分支问题，注意分支和自己的当前分支保持一致

741390353

朋友你好，我用的humble版本的ROS2，将DWB替换成TEB以后没法进行导航，请问你在更换planner的时候除了将上面的代码替换掉原来的planner之外，还进行别的配置了吗？

741390353

@小鱼大佬你好，我用的humble的ROS2，在将fishbot的DWB更换成TEB之后没办法导航，地图膨胀层和局部代价地图加载不出来，请问你知道是怎么回事吗，我只讲controller_server进行了替换，没有进行其他配置

741390353

地图是这个样子的

小鱼

此回复已被删除！

大预言家·福尔摩斯·睿

此回复已被删除！

td

此回复已被删除！

386894633

@td Humble中好像已经不再支持TEB了，具体参考链接

2573928130

@386894633 有社区移植的，https://blog.csdn.net/lgh1231/article/details/126342479 ，没有功能包二进制安装，只能源码安装。

2573928130

@741390353 老哥解决了吗，我现在也是这个问题,运行默认dwb时是正常启动的
但是运行teb后就跑不起来

我的ros2是humble版本