如何在不使用nav2_amcl节点的情况下实现单点导航？

孤独的幸存者

我自己写了一个定位的节点可以发布map->odom的tf转换。
我的机器人上面有里程计节点提供odom->base_link的tf转换。
因为我是直接使用平面图作为map的，不需要LIDAR来进行建图和定位，但是我不知道如何配置navigation.yaml.

我尝试调用nav2_bringup里的navigation.launch.py且使用了下面这个yaml文件：

# GPS WPF CHANGES: 
# - amcl params where removed. They are not needed because global localization is provided
#   by an ekf node on robot_localization fusing gps data with local odometry sources
# - static layer is removed from both costmaps, in this tutorial we assume there is no map
#   of the environment
# - global costmap is set to be rolling to allow the robot to traverse big environment by
#   following successive relatively close waypoints that fit in a smaller rolling costmap

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
    # '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_are_error_codes_active_condition_bt_node
      # - nav2_would_a_controller_recovery_help_condition_bt_node
      # - nav2_would_a_planner_recovery_help_condition_bt_node
      # - nav2_would_a_smoother_recovery_help_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
    # error_code_names:
    #   - compute_path_error_code
    #   - follow_path_error_code

controller_server:
  ros__parameters:
    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_plugins: ["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

# GPS WPF CHANGE: Remove static layer
local_costmap:
  local_costmap:
    ros__parameters:
      # update_frequency: 5.0
      update_frequency: 10.0
      # publish_frequency: 2.0
      publish_frequency: 5.0
      global_frame: odom
      robot_base_frame: base_link
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      # robot_radius: 0.22
      robot_radius: 0.6
      plugins: ["voxel_layer", "inflation_layer"]
      # plugins: ["inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      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
      always_send_full_costmap: True

# GPS WPF CHANGE: Remove static layer
# GPS WPF CHANGE: Set rolling global costmap with 50x50 size. See note below
global_costmap:
  global_costmap:
    ros__parameters:
      # update_frequency: 1.0
      update_frequency: 20.0
      # publish_frequency: 1.0
      publish_frequency: 10.0
      global_frame: map
      robot_base_frame: base_link
      # robot_radius: 0.22
      robot_radius: 0.6
      resolution: 0.1
      # When using GPS navigation you will potentially traverse huge environments which are not practical to
      # fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to 
      # contain each pair of successive waypoints. See: https://github.com/ros-planning/navigation2/issues/2174
      rolling_window: True
      # width: 50
      width: 10
      # height: 50
      height: 10
      track_unknown_space: true
      # no static map
      plugins: ["obstacle_layer", "inflation_layer"]
      # plugins: ["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
          # outdoors there will probably be more inf points
          inf_is_valid: true
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True

# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
#   ros__parameters:
#     yaml_filename: ""

map_server:
  ros__parameters:
    # 这里是我的地图文件路径，路径没有问题，地图加载也没有，只是这里不方便暴露出来
    yaml_filename: "turtlebot3_world.yaml"
    topic_name: "/map"
    frame_id: "map"
    
map_saver:
  ros__parameters:
    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
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

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

behavior_server:
  ros__parameters:
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_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"
    local_frame: odom
    global_frame: map
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    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:
    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

启动后没有报错，但是我不清楚如何给它机器人的初始位姿和目标点的位姿，如果使用rviz2里的插件在map上给的话会有报错：

[planner_server-7] [WARN] [1698376103.809749922] [planner_server]: The goal sent to the planner is off the global costmap. Planning will always fail to this goal.
[planner_server-7] [WARN] [1698376103.810110705] [planner_server]: GridBased: failed to create plan with tolerance 0.50.
[planner_server-7] [WARN] [1698376103.810187956] [planner_server]: Planning algorithm GridBased failed to generate a valid path to (6.39, -3.78)
[planner_server-7] [WARN] [1698376103.810229686] [planner_server_rclcpp_node]: [compute_path_to_pose] [ActionServer] Aborting handle.

我一开始以为是我的global_costmap大小太小没有把目标点也包含在内，但是之后我将global_costmap改大之后还是报同样的错误。

会不会是我那个自己写的定位节点除了发布map->odomtf转换之外还需要别的？

benaidandan

@374870361 老哥，你解决了吗