nav2导航出现Aborting handle错误

[445808098]

运行前提：

1. 雷达hz数：
   topic：scan hz是28hz
   
2. tf列表如图：
   
3. launch文件使用的是fishbot_navigation2里面的launch，launch文件里的内容把use_sim_time改成了flase，地图自己扫描的地图；然后launch文件调用参数配置文件的内容如下：
   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_link"
   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: 0.1
   laser_model_type: "likelihood_field"
   max_beams: 60
   max_particles: 2000
   min_particles: 100
   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_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: False

bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: False

controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 10.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.0
min_theta_velocity_threshold: 0.001
failure_tolerance: 300000.0
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: 3600.0
# 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: 0.46
  max_vel_y: 0.0
  max_vel_theta: 2.0
  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: 5
  vy_samples: 0
  vtheta_samples: 5
  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
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
plugins: ["inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
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: False
robot_radius: 0.22
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: 0.55
always_send_full_costmap: True

map_server:
ros__parameters:
use_sim_time: False
# 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: 0.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.1
use_astar: true
allow_unknown: false

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_link
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

开始运行：
出现问题1：discarding message：

问题2：在rviz2里面点击2D Pose Esti后又出现：odom， the timestamp earlier

问题3：点击Nav2 Goal一开始出现passing new path to controller的正确提示：

然后移动机器很容易出现Aborting handle的错误，这时候机器也不动，重新点Nav2 Goal也不动，不知道如何恢复和如何改这个错误：

这些问题困惑我好长时间，希望大神们给下指点，感谢感谢！！！

[小鱼]

@445808098 1.看地图有点乱，看日志规划超时了，改改规划时间试试，也可以更新下地图，搞个简单的，最好复制粘贴下日志，我好给你指出来。

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https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

[小伊]

针对您遇到的几个问题，我会逐一给出可能的解决思路和建议：

问题1：discarding message

这通常表示ROS中的某个节点正在丢弃消息，可能是因为：

• 消息的时间戳与当前时间相差太大。
• 消息的主题订阅者已经停止工作或者没有正确初始化。
• 消息类型与订阅者期望的不匹配。

解决方法：

• 确保所有节点的use_sim_time参数设置一致（如果使用的是模拟时间）。
• 检查消息发布者和订阅者的代码，确保它们之间的连接是正确的。
• 检查ROS的日志文件，看是否有更详细的错误信息可以帮助定位问题。

问题2：odom，the timestamp earlier

这个错误通常与tf（transform）变换有关，可能是odom帧的更新频率比scan话题的频率慢，导致在尝试对齐tf变换时出现了时间戳不一致的问题。

解决方法：

• 确保odom话题的发布频率与scan话题的频率相匹配或更快。
• 检查tf变换的监听器（如robot_state_publisher）是否正在运行，并且设置正确。
• 可以通过增加transform_tolerance参数（在AMCL和其他相关节点中）来允许更大的时间差异。

问题3：Aborting handle

这个错误通常与导航堆栈中的某个行为或操作被中断有关。可能的原因包括：

• 路径规划失败。
• 控制器无法找到到达目标的有效路径。
• 机器人遇到无法克服的障碍。
• 机器人的状态与预期不符（如电池电量低、被卡住等）。

解决方法：

• 检查planner_server和controller_server的日志输出，看是否有更详细的错误信息。
• 确保地图是准确的，并且机器人能够按照地图上的信息导航。
• 检查机器人的传感器数据（如激光雷达），确保它们能够正确感知环境。
• 如果可能，尝试在简化的环境中（如没有障碍物的空旷场地）运行导航堆栈，以排除环境因素的影响。
• 检查bt_navigator配置，确保所有的行为和条件都设置正确，并且能够正确处理各种情况。

其他建议

• 确保所有节点都已正确启动，并且use_sim_time参数设置一致。
• 在调试时，可以尝试简化配置，只运行最基本的导航堆栈，然后逐步添加其他功能。
• 使用ROS的调试工具（如rosbag、rostopic、rosservice等）来捕获和分析数据。
• 查阅ROS和Nav2的官方文档，了解每个参数和组件的详细信息和最佳实践。
• 在ROS社区和论坛中寻求帮助，分享您的问题和日志信息，以获得更具体的指导。

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以上为生成回答，仅供参考～

[小鱼]

@445808098 兄弟注意格式，你的tf图都没有连接map，定位估计有问题

[445808098]

此回复已被删除！

[445808098]

@小鱼 @小鱼 好的； 那个tf树是nav2运行前的静态tf和动态tf： odom到base； 然后还有就是scan雷达的topic的数据。这些数据都是全的，然后运行完nav2的定位后是有map的tf的。

[小鱼]

@445808098 1.看地图有点乱，看日志规划超时了，改改规划时间试试，也可以更新下地图，搞个简单的，最好复制粘贴下日志，我好给你指出来。

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https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答