机器人在单点导航时不规划路径

小鱼

[rviz2-2] [INFO] [1722310347.323473487] [rviz2]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[rviz2-2] [ERROR] [1722310347.323740453] [rviz2]: Goal was rejected by server

应该还有更进一步的日志信息

1814638019

@小鱼终端内的能截取到的全部代码

[component_container_isolated-1] [INFO] [1722328690.796172177] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.796172158] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.862376438] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.862376512] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.929077694] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.929077741] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328692.926502540] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[component_container_isolated-1] [INFO] [1722328692.926562950] [lifecycle_manager_navigation]: Activating bt_navigator
[component_container_isolated-1] [INFO] [1722328692.926919164] [bt_navigator]: Activating
[component_container_isolated-1] [ERROR] [1722328692.927391217] [bt_navigator]: Caught exception in callback for transition 13
[component_container_isolated-1] [ERROR] [1722328692.927425842] [bt_navigator]: Original error: Error at line 12: -> Node not recognized: RemovePassedGoals
[component_container_isolated-1] [WARN] [1722328692.927490205] [bt_navigator]: Error occurred while doing error handling.
[component_container_isolated-1] [FATAL] [1722328692.927522578] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[component_container_isolated-1] [ERROR] [1722328692.927960623] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[component_container_isolated-1] [ERROR] [1722328692.927993540] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[component_container_isolated-1] [INFO] [1722328693.261125604] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328692.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.261125486] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328692.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.328029683] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.328058336] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.394960022] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.395025228] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.461230244] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.461284224] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.528123912] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.528132964] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.595115140] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.595178439] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.661358248] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.661360080] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.728752758] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.728786474] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.795139915] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.795190506] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.862338103] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.862341684] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.929241307] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.929241211] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.996267304] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.996277213] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.062965045] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.063067200] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.129994316] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.130068307] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.196350259] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.196350253] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.263199813] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.263200010] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.329758524] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.329758713] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.396765256] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.396819624] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.462762505] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.462789260] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.529939233] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.530058021] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.596301286] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.596302698] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.663413611] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.663413718] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.730333632] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.730535289] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.796904071] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.796904433] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.863666504] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.863701495] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.929720717] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.929762923] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.996976483] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.996983951] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.063808607] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.063808565] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.130950916] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.131014258] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.197405303] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.197411902] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] Start navigation
[rviz2-2] [INFO] [1722328746.600351549] [rviz2]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[rviz2-2] [ERROR] [1722328746.602093016] [rviz2]: Goal was rejected by server

1814638019

@小鱼感谢您的回复

小鱼

@1814638019 在机器人在单点导航时不规划路径中说：

[component_container_isolated-1] [ERROR] [1722328692.927425842] [bt_navigator]: Original error: Error at line 12: -> Node not recognized: RemovePassedGoals

问题应该出在这里，你有修改行为树吗

1814638019

@小鱼没修改过

1814638019

@小鱼从学ros2 那里下载的源码只修改了fishbot文件夹里面launch和params部分

1814638019

@小鱼是这里的代码吗？

navigation2/nav2_bt_navigator/behavior_trees navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
  
<!--
  This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously
   and it also has recovery actions specific to planning / control as well as general system issues.
-->
<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PipelineSequence name="NavigateWithReplanning">
        <RateController hz="0.333">
          <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
            <ReactiveSequence>
              <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
            </ReactiveSequence>
            <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
          </RecoveryNode>
        </RateController>
        <RecoveryNode number_of_retries="1" name="FollowPath">
          <FollowPath path="{path}" controller_id="FollowPath"/>
          <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
        </RecoveryNode>
      </PipelineSequence>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
        <RoundRobin name="RecoveryActions">
          <Sequence name="ClearingActions">
            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
          </Sequence>
          <Spin spin_dist="1.57"/>
          <Wait wait_duration="5"/>
          <BackUp backup_dist="0.30" backup_speed="0.05"/>
        </RoundRobin>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>

小鱼

@1814638019 你下载的是哪个版本的

1814638019

此回复已被删除！

1814638019

@小鱼
大佬，我直接用的你的工作空间

小鱼

@1814638019 这个版本我还真不确定能不能用，主要是参数比较老了，nav2在更新，建议手动的按照教程配一遍参数，推荐下新书里的导航配置过程：书籍&社区铭牌购买链接：https://item.taobao.com/item.htm?id=819899547761