NAV2 设置单导航点失败，小车不移动

[1157354382]

版本为20 foxy
使用 bringup 里的文件修改 ，加载地图后 ，设置 单导航点时 报错， 错误为：
[bt_navigator-7] [INFO] [1668857731.744059850] [bt_navigator]: Begin navigating from current location to (0.84, 1.21)
[bt_navigator-7] [ERROR] [1668857731.744219084] [bt_navigator]: Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr"
[bt_navigator-7] [WARN] [1668857731.744248940] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

我看 Wiki 里面有人与我的问题一致，似乎它是通过修改 plugin_lib_names 来解决的 ，但是我不知道我这是缺少啥。

还有一点很奇怪，就是在加载地图时，我必须先打开 rviz2 ，设置好 map和 订阅话题，最后打开 导航包，这样才能 加载地图，否则无法加载地图。截图如下：

望各位大佬指点

[1157354382]

@1157354382 ```

• nav2_compute_path_to_pose_action_bt_node
  • nav2_follow_path_action_bt_node
  • nav2_back_up_action_bt_node
  • nav2_spin_action_bt_node
  • nav2_wait_action_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_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_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_distance_traveled_condition_bt_node

这是我的 plugin_lib_names

[小鱼]

@1157354382 第一个问题估计是没加载上控制器，可能是参数配置的问题，这个需要进一步查找，最好把相关的都贴上。
第二个是qos问题，这个你打开后修改下qos可以解决。

[1157354382]

@小鱼 非常感谢鱼总的解答。因为我是用的是 bringup 里的文件改写的，注意到官方里是使用 default_bt_xml_filename 来加载默认行为树，但是在 nav2 的文档里是使用 default_nav_to_pose_bt_xml 来加载。我查阅到似乎 default_bt_xml_filename 是 foxy 版本的加载方式。但是当我修改后，本来能正常运行的导航包 反而报错 ，这就很头大。报错内容为：

[bt_navigator-7] [INFO] [1669033140.299276707] [bt_navigator]: Configuring
[bt_navigator-7] 
[bt_navigator-7] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bt_navigator-7] This error state is being overwritten:
[bt_navigator-7] 
[bt_navigator-7]   'invalid empty action name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.13/src/rcl_action/names.c:36'
[bt_navigator-7] 
[bt_navigator-7] with this new error message:
[bt_navigator-7] 
[bt_navigator-7]   'failed to get goal service name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.13/src/rcl_action/action_client.c:215'
[bt_navigator-7] 
[bt_navigator-7] rcutils_reset_error() should be called after error handling to avoid this.
[bt_navigator-7] <<<
[bt_navigator-7] [ERROR] [1669033140.356554832] [bt_navigator_rclcpp_node.rclcpp_action]: Error in destruction of rcl action client handle: action client implementation is invalid, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.13/src/rcl_action/action_client.c:470
[ERROR] [bt_navigator-7]: process has died [pid 6177, exit code -11, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator -r __node:=bt_navigator --params-file /tmp/tmpxsdf_anw -r /tf:=tf -r /tf_static:=tf_static'].

还望鱼总多多指教

[1157354382]

@1157354382 另附上我的 bt_navigator

bt_navigator:
  ros__parameters:
    use_sim_time: false
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "/home/zr/catkin_ws/src/wheeltec_robot_nav/param/navigate_w_replanning_and_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_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_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_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_distance_traveled_condition_bt_node
    - nav2_is_battery_low_condition_bt_node
    - nav2_navigate_to_pose_action_bt_node

[1359092229]

@小鱼 你好 修改qos能说的具体些吗 打开那个文件修改qos 我在nav2的导航过程中也遇到了相同的问题（单点导航失败，小车不移动，但能够生成全局路径规划）

[小鱼]

@1359092229 具体发个帖子，放下日志看看

[927659307]

@1157354382 哥，问下您这两个问题解决了吗，我也是相同的问题