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    8.2.4配置导航参数并测试失败

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    动手学ROS2
    插件替换 rviz不反应
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    • 4
      开心
      最后由 编辑

      问题：修改为"nav捻仓tom_planner/CustomPlanner，按清单配置后，rviz初始化位置后不反应
      planner_server代码：

      planner_server:
  ros__parameters:
    #expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      #plugin: "nav2_navfn_planner/NavfnPlanner"
      plugin: "nav2_custom_planner/CustomPlanner"
      #tolerance: 0.5
      #use_astar: false
      #allow_unknown: true
      interpolation_resolution: 0.1

      nav2_custom_planner.cpp代码：

      #include "nav2_util/node_utils.hpp"
#include <cmath>
#include <memory>
#include <string>
#include "nav2_core/exceptions.hpp"
#include "nav2_custom_planner/nav2_custom_planner.hpp"

namespace nav2_custom_planner {
    void CustomPlanner::configure(
        const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name,
        std::shared_ptr<tf2_ros::Buffer> tf,
        std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) {
            tf_ = tf;
            node_ = parent.lock();
            name_ = name;
            costmap_ = costmap_ros->getCostmap();
            global_frame_ = costmap_ros->getGlobalFrameID();
            //参数初始化
            nav2_util::declare_parameter_if_not_declared(node_, name_ + ".interpolation_resolution", rclcpp::ParameterValue(0.1));
            node_->get_parameter(name_ + ".interpolation_resolution",
                                interpolation_resolution_);
        
        
        }
    void CustomPlanner::cleanup() {
        RCLCPP_INFO(node_->get_logger(), "正在清理类型为CustomPlanner的插件 %s", name_.c_str());
    }
    
    void CustomPlanner::activate() {
        RCLCPP_INFO(node_->get_logger(), "正在激活类型为CustomPlanner的插件 %s", name_.c_str());
    }

    void CustomPlanner::deactivate() {
        RCLCPP_INFO(node_->get_logger(), "正在停用类型为CustomPlanner的插件 %s", name_.c_str());
    }

    nav_msgs::msg::Path
    CustomPlanner::createPlan(const geometry_msgs::msg::PoseStamped &start,
        const geometry_msgs::msg::PoseStamped &goal) {
        // 1、声明并初始化global_path
        nav_msgs::msg::Path global_path;
        global_path.poses.clear();
        global_path.header.stamp = node_->now();
        global_path.header.frame_id = global_frame_;
        // 2、检察目标和起始状态是否在全局坐标中
        if (start.header.frame_id != global_frame_) {
            RCLCPP_ERROR(node_->get_logger(), "规划器仅接受来自 %s 坐标系的起始位置", global_frame_.c_str());
            return global_path;
        }
        if (goal.header.frame_id != global_frame_) {
            RCLCPP_INFO(node_->get_logger(), "规划器仅接受来自 %s 坐标系的起始位置", global_frame_.c_str());
            return global_path;
        }
        // 3、计算当前插值分辨率 interpolation_resolution_下的循环次数和步进值
        int total_number_of_loop =
            std::hypot(goal.pose.position.x - start.pose.position.x,
                        goal.pose.position.y - start.pose.position.y) /
                        interpolation_resolution_;
            double x_increment = 
                (goal.pose.position.x - start.pose.position.x) / total_number_of_loop;
            double y_increment = 
                (goal.pose.position.y - start.pose.position.y) / total_number_of_loop;
        // 4、生成路径
        for (int i = 0; i < total_number_of_loop; ++i) {
            geometry_msgs::msg::PoseStamped pose; // 生成一个点
            pose.pose.position.x = start.pose.position.x + x_increment * i;
            pose.pose.position.y = start.pose.position.y + y_increment * i;
            pose.pose.position.z = 0.0;
            pose.header.stamp = node_->now();
            pose.header.frame_id = global_frame_;
            // 将该点放在路径中
            global_path.poses.push_back(pose);
        }
        // 5、使用 costmap 检察该条路径是否经过障碍物
        for (geometry_msgs::msg::PoseStamped pose : global_path.poses) {
            unsigned int mx, my; // 将坐标转换为栅格坐标
            if (costmap_->worldToMap(pose.pose.position.x, pose.pose.position.y, mx, my)) {
                unsigned char cost = costmap_->getCost(mx, my); // 获取带有栅格的代价值
                // 如果存在致命障碍物则抛出异常
                if (cost == nav2_costmap_2d::LETHAL_OBSTACLE) {
                    RCLCPP_WARN(node_->get_logger(), "在(%f,%f)检测到存在致命障碍物，规划失败。", 
                    pose.pose.position.x, pose.pose.position.y);
                    throw nav2_core::PlannerException(
                        "无法创建规划目标：" + std::to_string(goal.pose.position.x) + "," + 
                        std::to_string(goal.pose.position.y));
                }
            }   
        }
        // 6、收尾，将目标点作为路径的最后一个点并返回路径
        geometry_msgs::msg::PoseStamped goal_pose = goal;
        goal_pose.header.stamp = node_->now();
        goal_pose.header.frame_id = global_frame_;
        global_path.poses.push_back(goal_pose);
        
        return global_path;
        }

} // namespace nav2_custom_planner

#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(nav2_custom_planner::CustomPlanner,
                        nav2_core::GlobalPlanner);
      4 2 条回复 最后回复 回复 引用 0
      • 4
        开心 @43996173
        最后由 编辑

        @43996173
        rviz日志文件：

        tingbo@DESKTOP-NHH5E05:~/chapt8/chapt8_ws$ ros2 launch fishbot_navigation2 navigation2.launch.py
[INFO] [launch]: All log files can be found below /home/tingbo/.ros/log/2024-04-30-09-41-28-252807-DESKTOP-NHH5E05-48185
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated-1]: process started with pid [48210]
[INFO] [rviz2-2]: process started with pid [48212]
[rviz2-2] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
[component_container_isolated-1] [INFO] [1714441290.519077768] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so
[component_container_isolated-1] [INFO] [1714441290.543254369] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1714441290.543359969] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1714441290.581321471] [controller_server]:
[component_container_isolated-1]        controller_server lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1714441290.589289171] [controller_server]: Creating controller server
[component_container_isolated-1] [INFO] [1714441290.611475272] [local_costmap.local_costmap]:
[component_container_isolated-1]        local_costmap lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1714441290.758609779] [amcl]:
[component_container_isolated-1]        amcl lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1714441290.759910779] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1714441290.769389280] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so
[component_container_isolated-1] [INFO] [1714441290.772756980] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1714441290.772884380] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1714441290.810831282] [planner_server]:
[component_container_isolated-1]        planner_server lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] 
[component_container_isolated-1] [INFO] [1714441290.922881987] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1714441290.923287687] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-1] [INFO] [1714441290.923776887] [map_server]: Configuring
[component_container_isolated-1] [INFO] [map_io]: Loading yaml file: /home/tingbo/chapt8/chapt8_ws/install/fishbot_navigation2/share/fishbot_navigation2/maps/room.yaml
[component_container_isolated-1] [DEBUG] [map_io]: resolution: 0.05
[component_container_isolated-1] [DEBUG] [map_io]: origin[0]: -7.64
[component_container_isolated-1] [DEBUG] [map_io]: origin[1]: -7.15
[component_container_isolated-1] [DEBUG] [map_io]: origin[2]: 0
[component_container_isolated-1] [DEBUG] [map_io]: free_thresh: 0.25
[component_container_isolated-1] [DEBUG] [map_io]: occupied_thresh: 0.65
[component_container_isolated-1] [DEBUG] [map_io]: mode: trinary
[component_container_isolated-1] [DEBUG] [map_io]: negate: 0
[component_container_isolated-1] [INFO] [map_io]: Loading image_file: /home/tingbo/chapt8/chapt8_ws/install/fishbot_navigation2/share/fishbot_navigation2/maps/room.pgm
[component_container_isolated-1] [DEBUG] [map_io]: Read map /home/tingbo/chapt8/chapt8_ws/install/fishbot_navigation2/share/fishbot_navigation2/maps/room.pgm: 262 X 296 map @ 0.05 m/cell
[component_container_isolated-1] [INFO] [1714441290.963183489] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-1] [INFO] [1714441290.963454689] [amcl]: Configuring
[component_container_isolated-1] [INFO] [1714441290.963983489] [amcl]: initTransforms
[component_container_isolated-1] [INFO] [1714441290.966080289] [behavior_server]:
[component_container_isolated-1]        behavior_server lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1714441290.985823690] [nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so
[component_container_isolated-1] [INFO] [1714441291.004051591] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1714441291.004100891] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1714441291.026670892] [amcl]: initPubSub
[component_container_isolated-1] [INFO] [1714441291.056052294] [amcl]: Subscribed to map topic.
[component_container_isolated-1] [INFO] [1714441291.081119195] [lifecycle_manager_localization]: Activating map_server
[component_container_isolated-1] [INFO] [1714441291.081495595] [map_server]: Activating
[component_container_isolated-1] [INFO] [1714441291.082991795] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1714441291.083556695] [amcl]: Received a 262 X 296 map @ 0.050 m/pix
[component_container_isolated-1] [INFO] [1714441291.090327595] [bt_navigator]:
[component_container_isolated-1]        bt_navigator lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1714441291.097086896] [bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1714441291.103330096] [nav2_container]: Load Library: /opt/ros/humble/lib/libwaypoint_follower_core.so
[component_container_isolated-1] [INFO] [1714441291.106782896] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1714441291.108129896] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1714441291.163609199] [waypoint_follower]:
[component_container_isolated-1]        waypoint_follower lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1714441291.165948499] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1714441291.172636599] [nav2_container]: Load Library: /opt/ros/humble/lib/libvelocity_smoother_core.so
[component_container_isolated-1] [INFO] [1714441291.176886899] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1714441291.177470200] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1714441291.211718801] [velocity_smoother]:
[component_container_isolated-1]        velocity_smoother lifecycle node launched.
[component_container_isolated-1]        Waiting on external lifecycle transitions to activate
[component_container_isolated-1]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1714441291.218161601] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1714441291.218238802] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1714441291.253727303] [lifecycle_manager_navigation]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1714441291.261462704] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1714441291.286281705] [amcl]: createLaserObject
[component_container_isolated-1] [WARN] [1714441291.298604105] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1714441291.312159206] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] 
[component_container_isolated-1] [INFO] [1714441291.547476717] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[component_container_isolated-1] [INFO] [1714441291.553400218] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[component_container_isolated-1] [INFO] [1714441291.570279919] [lifecycle_manager_navigation]: Configuring planner_server
[component_container_isolated-1] [INFO] [1714441291.570477919] [planner_server]: Configuring
[component_container_isolated-1] [INFO] [1714441291.570618619] [global_costmap.global_costmap]: Configuring
[component_container_isolated-1] [INFO] [1714441291.592593820] [global_costmap.global_costmap]: Using plugin "static_layer"
[component_container_isolated-1] [INFO] [1714441291.597003320] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[component_container_isolated-1] [INFO] [1714441291.598914120] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[1714441291.628119821] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[component_container_isolated-1] [FATAL] [1714441291.653694823] [planner_server]: Failed to create global planner. Exception: Could not find library corresponding to plugin nav2_custom_planner/CustomPlanner. Make sure that the library 'nav2_custom_planner_plugin' actually exists.
[component_container_isolated-1] [ERROR] [1714441291.654599323] [lifecycle_manager_navigation]: Failed to change state for node: planner_server
[component_container_isolated-1] [ERROR] [1714441291.654630423] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[component_container_isolated-1] [INFO] [1714441291.668797823] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 262 X 296 at 0.050000 m/pix
[rviz2-2] [INFO] [1714441291.777295029] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1714441291.777755429] [rviz2]: OpenGl version: 4.2 (GLSL 4.2)
[rviz2-2] [INFO] [1714441291.880743234] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-1] [WARN] [1714441292.044388642] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[rviz2-2] [INFO] [1714441292.263889052] [rviz2]: Trying to create a map of size 262 x 296 using 1 swatches
[rviz2-2] [ERROR] [1714441292.321494655] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-2] active samplers with a different type refer to the same texture image unit
[component_container_isolated-1] [WARN] [1714441293.290612502] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441295.116431690] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7556.178 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1714441295.294489499] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441295.308184900] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7556.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441295.500418309] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7556.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441295.724786420] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7556.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441295.916522729] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7556.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441296.140943540] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7557.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441296.332987349] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7557.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441296.524172558] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7557.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441296.716890368] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7557.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441296.940116279] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7557.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441297.132164788] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7558.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441297.324480397] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7558.378 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1714441297.519346307] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441297.549014208] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7558.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441297.742961314] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7558.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441297.932609316] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7558.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441298.157083519] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7559.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441298.348363821] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7559.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441298.540796323] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7559.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441298.765424426] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7559.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441298.956352528] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7559.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441299.148800330] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7560.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441299.340691432] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7560.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441299.564489735] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7560.578 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1714441299.736345737] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441299.756277237] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7560.779 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441299.948922739] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7560.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441300.140377241] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7561.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441300.364789944] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7561.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441300.556585846] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7561.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441300.748703548] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7561.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441300.940379150] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7561.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441301.164773852] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7562.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441301.356904355] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7562.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441301.548841157] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7562.578 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1714441301.742724159] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441301.772535759] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7562.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441301.968095961] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7562.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441302.157295064] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7563.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441302.381168966] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7563.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441302.572797168] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7563.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441302.764103470] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7563.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441302.988702573] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7563.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441303.180418775] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7564.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441303.373016077] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7564.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441303.564124979] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7564.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441303.789413482] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7564.778 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1714441303.962216584] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441303.980394984] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7564.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441304.172235886] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7565.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441304.364489088] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7565.379 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441305.772877903] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7566.778 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1714441305.968206304] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1714441305.996126204] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7566.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441306.188657505] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7567.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441306.380885706] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7567.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441306.572938407] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7567.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441306.796428708] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7567.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441306.988795509] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7567.978 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441307.134442610] [rviz2]: Setting estimate pose: Frame:map, Position(3.46453e-08, 0.00937503, 0), Orientation(0, 0, 0.00314274, 0.999995) = Angle: 0.00628548
[component_container_isolated-1] [INFO] [1714441307.135065910] [amcl]: initialPoseReceived
[component_container_isolated-1] [INFO] [1714441307.135162110] [amcl]: Setting pose (7570.047000): 0.000 0.009 0.006
[rviz2-2] [INFO] [1714441307.180886710] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7568.178 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441307.372332211] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7568.378 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441307.596409712] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7568.578 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441307.789098513] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7568.778 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1714441316.424794648] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7569.378 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441316.625205649] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7569.578 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441316.825335949] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7569.778 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441317.026644250] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7569.978 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441317.227855750] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7570.178 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441317.427462251] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7570.378 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441317.628638551] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7570.578 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441317.827929452] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7570.778 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] [INFO] [1714441318.028947452] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 7570.978 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] Start navigation
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_isolated-1] [INFO] [1714441322.595722163] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-1] [INFO] [1714441322.596122963] [global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)
[component_container_isolated-1] [INFO] [1714441322.596467263] [global_costmap.global_costmap]: Cleaning up
[ERROR] [rviz2-2]: process has died [pid 48212, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params__2_xt3ip'].
[rviz2-2] [INFO] [1714441322.595845663] [rclcpp]: signal_handler(signum=2)
[rviz2-2] [ERROR] [1714441322.596476663] [rviz_navigation_dialog_action_client]: navigate_to_pose action server is not available. Is the initial pose set?
[rviz2-2]
[rviz2-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-2] This error state is being overwritten:
[rviz2-2]
[rviz2-2]   'rcl node's context is invalid, at ./src/rcl/node.c:428'
[rviz2-2]
[rviz2-2] with this new error message:
[rviz2-2]
[rviz2-2]   'publisher's context is invalid, at ./src/rcl/publisher.c:389'
[rviz2-2]
[rviz2-2] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-2] <<<
[component_container_isolated-1] [INFO] [1714441322.606711263] [global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager.
[component_container_isolated-1] [INFO] [1714441322.606747963] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server)
[component_container_isolated-1] [INFO] [1714441322.606817163] [smoother_server]: Cleaning up
[component_container_isolated-1] [INFO] LifecycleNode rcl preshutdown (amcl)
[component_container_isolated-1] [INFO] [1714441322.659397963] [amcl]: Deactivating
[1714441322.677908863] [amcl]: Destroying bond (amcl) to lifecycle manager.
[component_container_isolated-1] [INFO] [1714441322.677947963] [map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[component_container_isolated-1] [INFO] [1714441322.677968363] [map_server]: Deactivating
[component_container_isolated-1] [INFO] [1714441322.677980363] [map_server]: Destroying bond (map_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1714441322.693491563] [map_server]: Cleaning up
[component_container_isolated-1] [INFO] [1714441322.693630963] [map_server]: Destroying bond (map_server) to lifecycle manager.
[1714441322.693756963] [local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)
[component_container_isolated-1] [INFO] [1714441322.693775463] [local_costmap.local_costmap]: Cleaning up
[component_container_isolated-1] [INFO] [1714441322.705001363] [local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager.
[component_container_isolated-1] [INFO] [1714441322.705076463] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[component_container_isolated-1] [INFO] [1714441322.705115363] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1714441322.762122163] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[ERROR] [component_container_isolated-1]: process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container_isolated-1]: sending signal 'SIGTERM' to process[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1714441328.285173574] [rclcpp]: signal_handler(signum=15)
[ERROR] [component_container_isolated-1]: process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [component_container_isolated-1]: sending signal 'SIGKILL' to process[component_container_isolated-1]
[ERROR] [component_container_isolated-1]: process has died [pid 48210, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_bn8j221x --params-file /tmp/launch_params_mlv9_qat -r /tf:=tf -r /tf_static:=tf_static'].
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          开心 @43996173
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          @43996173 nav2_params.yaml全部代码：

          amcl:
  ros__parameters:
    use_sim_time: True
    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: True
    global_frame: map
    robot_base_frame: base_link
    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: True

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    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: 0.15
      yaw_goal_tolerance: 0.15
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      #plugin: "nav2_custom_controller::CustomController"
      #max_linear_speed: 0.1
      #max_angular_speed: 1.0
      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: 0.8
      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: 2.0
      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: 0.15
      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
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.12
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.24
      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:
        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
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      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:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.24
      always_send_full_costmap: True

map_server:
  ros__parameters:
    use_sim_time: True
    # 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: True
    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: True
    planner_plugins: ["GridBased"]
    GridBased:
      #plugin: "nav2_navfn_planner/NavfnPlanner"
      plugin: "nav2_custom_planner/CustomPlanner"
      #tolerance: 0.5
      #use_astar: false
      #allow_unknown: true
      interpolation_resolution: 0.1

smoother_server:
  ros__parameters:
    use_sim_time: True
    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_link
    transform_tolerance: 0.1
    use_sim_time: true
    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: True

waypoint_follower:
  ros__parameters:
    use_sim_time: True
    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: True
    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
          小鱼小 1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @43996173
            最后由 编辑

            @43996173 [component_container_isolated-1] [FATAL] [1714441291.653694823] [planner_server]: Failed to create global planner. Exception: Could not find library corresponding to plugin nav2_custom_planner/CustomPlanner. Make sure that the library 'nav2_custom_planner_plugin' actually exists

            看这句提示应该是插件编写问题，贴一下 插件配置xml ，cmake 和 packages.xml

            小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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            • 4
              开心 @小鱼
              最后由 编辑

              @小鱼
              custom_planner_plugin.xml代码：

              <library path="nav2_custom_planner_plugin">
    <class name="nav2_custom_planner/CustomPlanner" 
    type="nav2_custom_planner::CustomPlanner" 
    base_class_type="nav2_core::GlobalPlanner">
        <description>是一个自定义示例插件，用于生成自定义路径。</description>
    </class>
</library>

              cmakelists.txt代码：“

              cmake_minimum_required(VERSION 3.8)
project(nav2_custom_planner)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(nav2_core REQUIRED)
find_package(pluginlib REQUIRED)
#包含头文件目录
include_directories(include)
#定义库名称
set(library_name ${PROJECT_NAME}_Plugin)
#创建共享库
add_library(${library_name} SHARED src/nav2_custom_planner.cpp)
#指定库的依赖关系
ament_target_dependencies(${library_name} nav2_core pluginlib)
#安装库文件到指定目录
install(TARGETS ${library_name}
  ARCHIVE DESTINATION lib 
  LIBRARY DESTINATION lib 
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)
#安装头文件到指定目录
install(DIRECTORY include/
  DESTINATION include/ )
#导出插件描述文件
pluginlib_export_plugin_description_file(nav2_core custom_planner_plugin.xml)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

              package.xml代码：

              <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>nav2_custom_planner</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="tingbo01@qq.com">tingbo</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>nav2_core</depend>
  <depend>pluginlib</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
    <nav2_core plugin="${prefix}/custom_planner_plugin.xml" />
  </export>
</package>
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