机器人在单点导航时不规划路径

1814638019

背景(可选)：

ubuntu22.04 ros2humble nav2 里程计使用laser_scan_matcher
实现小车导航，用的是小鱼教程里面的nav2。
tf树

在navigation2.launch.py中的代码如下

      import os
        import launch
        import launch_ros
        from ament_index_python.packages import get_package_share_directory
        from launch.launch_description_sources import PythonLaunchDescriptionSource
        
        
        def generate_launch_description():
            # 获取与拼接默认路径
            fishbot_navigation2_dir = get_package_share_directory(
                'fishbot_navigation2')
            nav2_bringup_dir = get_package_share_directory('nav2_bringup')
            rviz_config_dir = os.path.join(
                nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
            
            # 创建 Launch 配置
            use_sim_time = launch.substitutions.LaunchConfiguration(
                'use_sim_time', default='false')
            map_yaml_path = launch.substitutions.LaunchConfiguration(
                'map', default=os.path.join(fishbot_navigation2_dir, 'maps', 'imu_map.yaml'))
            nav2_param_path = launch.substitutions.LaunchConfiguration(
                'params_file', default=os.path.join(fishbot_navigation2_dir, 'param', 'fishbot_nav2.yaml'))
        
            return launch.LaunchDescription(
                [
                # 声明新的 Launch 参数
                launch.actions.DeclareLaunchArgument('use_sim_time', default_value=use_sim_time,
                                                     description='Use simulation (Gazebo) clock if true'),
                launch.actions.DeclareLaunchArgument('map', default_value=map_yaml_path,
                                                     description='Full path to map file to load'),
                launch.actions.DeclareLaunchArgument('params_file', default_value=nav2_param_path,
                                                     description='Full path to param file to load'),
        
                launch.actions.IncludeLaunchDescription(
                    PythonLaunchDescriptionSource(
                        [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
                    # 使用 Launch 参数替换原有参数
                    launch_arguments={
                        'map': map_yaml_path,
                        'use_sim_time': use_sim_time,
                        'params_file': nav2_param_path}.items(),
                ),
                launch_ros.actions.Node(
                    package='rviz2',
                    executable='rviz2',
                    name='rviz2',
                    arguments=['-d', rviz_config_dir],
                    parameters=[{'use_sim_time': use_sim_time}],
                    output='screen'),
                launch_ros.actions.Node(
                package='nav2_map_server',
                executable='map_server',
                name='map_server',
                output='screen',
                parameters=[{'use_sim_time': False}, 
                            {'yaml_filename':map_yaml_path}],
            ),
                launch_ros.actions.Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_mapper',
                output='screen',
                parameters=[{'use_sim_time': False},
                            {'autostart': True},
                            {'node_names': ['map_server']}],  
            ),
           
        launch_ros.actions.Node(
                package='nav2_amcl',
                executable='amcl',
                name='amcl',
                output='screen',
               
            ),
        # 生命循环节点也同样需要启动
        launch_ros.actions.Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_mapper',
                output='screen',
                parameters=[{'use_sim_time': False},
                            {'autostart': True},
                            {'node_names': ['amcl']}]  ,
            ),
        
        
                    
                    
                ]
                )

加了amcl和mapserver
如果没有写上面的mapserver，不会在rviz中显示地图

问题描述：

小车无法进行单点导航

具体细节和上下文：

这是终端内的报错，有三点

[component_container_isolated-1] [INFO] [1722307497.353478349] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722307497.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

[amcl-5] [INFO] [1722307497.986480663] [amcl]: Message Filter dropping message: frame 'laser_link' at time 1722307496.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[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

rviz：
其中一个planner下的组件显示没有接受到地图，nav和location显示inactive

机器人小伊

根据您提供的信息和错误日志，我们可以分析并尝试解决小车在单点导航时遇到的问题。以下是一些可能的原因和解决方案：

1. 时间戳问题

错误日志中的 Message Filter dropping message 指出接收到的时间戳早于当前变换缓存中的时间戳。这通常是由于传感器数据（如激光扫描数据）或地图服务器发送的数据时间戳与ROS系统时间不同步或延迟过大导致的。

解决方案：

确保所有节点的 use_sim_time 参数设置正确。如果您的系统是基于物理的（非仿真），确保 use_sim_time 设置为 false。
检查并优化系统的网络延迟和处理器负载，确保传感器数据能够及时处理。
检查并校准传感器的时间戳生成逻辑，确保它们与ROS系统时间同步。

2. AMCL 节点问题

AMCL（自适应蒙特卡洛定位）节点也报告了时间戳问题，这可能是因为它依赖的激光扫描或其他定位数据没有及时更新。

解决方案：

确保 AMCL 节点能够接收到有效的激光扫描数据和其他必要的定位信息。
检查 AMCL 的配置文件，确保所有必要的参数都已正确设置。

3. 地图服务器和变换问题

如果 RViz 显示“planner下的组件显示没有接受到地图”，这通常意味着地图数据没有正确加载或变换（TF）没有正确设置。

解决方案：

确保地图文件 (imu_map.yaml) 正确无误，并且地图服务器 (map_server) 正在运行且能正确加载地图。
检查 TF 树，确保所有必要的变换（如从 base_link 到 map 的变换）都已正确设置并发布。
在 RViz 中使用 TF 插件来可视化 TF 树，检查是否有缺失的变换或错误的连接。

4. 导航配置和状态

如果 nav 和 location 显示为 inactive，这可能是因为导航堆栈的某些部分没有正确启动或配置。

解决方案：

检查 fishbot_nav2.yaml 文件中的配置，确保所有必要的导航参数都已正确设置。
使用 ros2 service call /liftcycle_manager_mapper/get_state lifecycle_msgs/srv/GetState 命令来检查 AMCL 和其他导航相关节点的状态。
确保 lifecycle_manager 正在管理所有相关的导航节点，并且它们都处于激活状态。

5. RViz 配置

确保 RViz 的配置正确，特别是与导航相关的插件（如目标设置、路径规划显示等）已正确配置。

总结：
您的问题可能涉及多个方面，包括时间戳同步、地图加载、TF 设置、导航配置以及 RViz 配置。建议逐一检查这些方面，并根据上述建议进行调整。如果问题仍然存在，可能需要更详细地检查系统日志或增加调试输出来进一步诊断问题。

以上为生成回答，仅供参考～

小鱼

@1814638019 在机器人在单点导航时不规划路径中说：

[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