ROSject Goal Pose Issue (Control loop missed its desired rate of 10Hz)

Course Support ROS2 Navigation
1

When I run the launch file for project_path_planning to set my goalpose I get the following error on my terminal:

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-05-02-13-29-53-479304-3_xterm-29777
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [29925]
[INFO] [planner_server-2]: process started with pid [29929]
[INFO] [recoveries_server-3]: process started with pid [29934]
[INFO] [bt_navigator-4]: process started with pid [29944]
[INFO] [lifecycle_manager-5]: process started with pid [29955]
[bt_navigator-4] [INFO] [1683034194.564676222] [bt_navigator]:
[bt_navigator-4]        bt_navigator lifecycle node launched.
[bt_navigator-4]        Waiting on external lifecycle transitions to activate
[bt_navigator-4]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-4] [INFO] [1683034194.568470927] [bt_navigator]: Creating
[controller_server-1] [INFO] [1683034194.667631758] [controller_server]:
[controller_server-1]   controller_server lifecycle node launched.
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683034194.779991645] [controller_server]: Creating controller server
[lifecycle_manager-5] [INFO] [1683034194.969363800] [lifecycle_manager_pathplanner]: Creating
[planner_server-2] [INFO] [1683034195.059922204] [planner_server]:
[planner_server-2]      planner_server lifecycle node launched.
[planner_server-2]      Waiting on external lifecycle transitions to activate
[planner_server-2]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1683034195.065026921] [planner_server]: Creating
[recoveries_server-3] [INFO] [1683034195.164077355] [recoveries_server]:
[recoveries_server-3]   recoveries_server lifecycle node launched.
[recoveries_server-3]   Waiting on external lifecycle transitions to activate
[recoveries_server-3]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683034195.173018730] [local_costmap.local_costmap]:
[controller_server-1]   local_costmap lifecycle node launched.
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683034195.173879461] [local_costmap.local_costmap]: Creating Costmap
[lifecycle_manager-5] [INFO] [1683034195.253263952] [lifecycle_manager_pathplanner]: Creating and initializing lifecycle service clients
[lifecycle_manager-5] [INFO] [1683034195.479388632] [lifecycle_manager_pathplanner]: Starting managed nodes bringup...
[lifecycle_manager-5] [INFO] [1683034195.479443508] [lifecycle_manager_pathplanner]: Configuring planner_server
[planner_server-2] [INFO] [1683034195.666343123] [global_costmap.global_costmap]:
[planner_server-2]      global_costmap lifecycle node launched.
[planner_server-2]      Waiting on external lifecycle transitions to activate
[planner_server-2]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1683034195.669408097] [global_costmap.global_costmap]: Creating Costmap
[planner_server-2] [INFO] [1683034195.779756117] [planner_server]: Configuring
[planner_server-2] [INFO] [1683034195.779808784] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1683034195.851433288] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-2] [INFO] [1683034195.868773147] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1683034195.876439521] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-2] [INFO] [1683034195.878046174] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-2] [INFO] [1683034195.878248617] [global_costmap.global_costmap]: Subscribed to Topics:
[planner_server-2] [INFO] [1683034195.878306521] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-2] [INFO] [1683034195.878338877] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-2] [INFO] [1683034195.878583000] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-2] [INFO] [1683034195.951787017] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1683034195.951864387] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1683034195.973596994] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 56 X 52 at 0.050000 m/pix
[planner_server-2] [INFO] [1683034196.070369852] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-5] [INFO] [1683034196.257676433] [lifecycle_manager_pathplanner]: Configuring controller_server
[controller_server-1] [INFO] [1683034196.259683029] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1683034196.259816457] [controller_server]: Controller frequency set to 10.0000Hz
[controller_server-1] [INFO] [1683034196.259848391] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1683034196.265635781] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-1] [INFO] [1683034196.278873199] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-1] [INFO] [1683034196.282656063] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-1] [INFO] [1683034196.356690230] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-1] [INFO] [1683034196.363246595] [local_costmap.local_costmap]: StaticLayer: Resizing costmap to 56 X 52 at 0.050000 m/pix
[controller_server-1] [INFO] [1683034196.370537403] [local_costmap.local_costmap]: Subscribed to Topics:
[controller_server-1] [INFO] [1683034196.371171599] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-1] [INFO] [1683034196.371775413] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1683034196.376951246] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1683034196.453792657] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1683034196.455694120] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1683034196.464316317] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1683034196.470960775] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1683034196.680667972] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1683034196.680807882] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.680858074] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1683034196.680941064] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.680978595] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1683034196.681054467] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.681106204] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1683034196.681207829] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.681246858] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1683034196.681324236] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.681361867] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1683034196.681447657] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.681507230] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1683034196.681602781] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683034196.681623275] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-5] [INFO] [1683034196.866675566] [lifecycle_manager_pathplanner]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1683034196.870536448] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1683034196.969448324] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1683034196.973333393] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1683034197.069393951] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1683034197.071520779] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1683034197.173077178] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1683034197.175902371] [recoveries_server]: Configuring wait
[lifecycle_manager-5] [INFO] [1683034197.257965976] [lifecycle_manager_pathplanner]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1683034197.258455449] [bt_navigator]: Configuring
[bt_navigator-4] [INFO] [1683034197.564720100] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-4] [INFO] [1683034197.565759502] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-4] [INFO] [1683034197.664036060] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1683034197.664974912] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683034197.778639767] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-4] [INFO] [1683034197.778836811] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-4] [INFO] [1683034197.857988345] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1683034197.859106694] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683034197.868593282] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1683034197.869722739] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683034197.876260464] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1683034197.876491228] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683034197.879087748] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-4] [INFO] [1683034197.879175920] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-4] [INFO] [1683034197.880790340] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-4] [INFO] [1683034197.880902874] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[lifecycle_manager-5] [INFO] [1683034197.959525476] [lifecycle_manager_pathplanner]: Activating planner_server
[planner_server-2] [INFO] [1683034197.959839693] [planner_server]: Activating
[planner_server-2] [INFO] [1683034197.959899321] [global_costmap.global_costmap]: Activating
[planner_server-2] [INFO] [1683034197.959927270] [global_costmap.global_costmap]: Checking transform
[planner_server-2] [INFO] [1683034197.959983400] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-2] [INFO] [1683034198.460058370] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-2] [INFO] [1683034198.960058819] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-2] [INFO] [1683034199.460049922] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-2] [INFO] [1683034199.960133528] [global_costmap.global_costmap]: start
[planner_server-2] [INFO] [1683034200.210316492] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-5] [INFO] [1683034200.252041350] [lifecycle_manager_pathplanner]: Activating controller_server
[controller_server-1] [INFO] [1683034200.252449890] [controller_server]: Activating
[controller_server-1] [INFO] [1683034200.252515017] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1683034200.252541241] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1683034200.252653442] [local_costmap.local_costmap]: start
[lifecycle_manager-5] [INFO] [1683034200.352268765] [lifecycle_manager_pathplanner]: Activating recoveries_server
[recoveries_server-3] [INFO] [1683034200.352706244] [recoveries_server]: Activating
[recoveries_server-3] [INFO] [1683034200.352759471] [recoveries_server]: Activating spin
[recoveries_server-3] [INFO] [1683034200.352783122] [recoveries_server]: Activating backup
[recoveries_server-3] [INFO] [1683034200.352800788] [recoveries_server]: Activating wait
[lifecycle_manager-5] [INFO] [1683034200.353557968] [lifecycle_manager_pathplanner]: Activating bt_navigator
[bt_navigator-4] [INFO] [1683034200.353904899] [bt_navigator]: Activating
[lifecycle_manager-5] [INFO] [1683034200.354959268] [lifecycle_manager_pathplanner]: Managed nodes are active
[bt_navigator-4] [INFO] [1683034222.969438726] [bt_navigator]: Begin navigating from current location to (-0.61, 0.02)
[controller_server-1] [INFO] [1683034223.162861003] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [WARN] [1683034223.564834194] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034223.665554607] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034223.965025927] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034224.071967025] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034224.261216968] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034224.279244774] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [INFO] [1683034224.279311914] [controller_server]: Passing new path to controller.
[bt_navigator-4] [ERROR] [1683034225.452349982] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683034225.452417998] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1683034225.466704340] [controller_server]: Passing new path to controller.
[controller_server-1] [WARN] [1683034226.672763670] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034226.768642945] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034228.959928433] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034229.063711227] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034229.180688824] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034230.888698725] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034232.574341979] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034233.875670254] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034234.282812278] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034236.479367268] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034240.154093698] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034240.260643530] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034240.361843214] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034240.457881760] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034240.557983926] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034241.970523473] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034241.979139720] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034242.176820883] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034242.666871787] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034242.953385466] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034244.065050372] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034244.472952505] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034244.875428008] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034246.760573716] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034247.855932756] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034248.567397767] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034248.662831777] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034248.857331829] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034249.257726926] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034250.057596072] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034251.461713898] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034252.562835991] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034253.055785012] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034253.169256363] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034254.170449818] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034254.754632068] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683034254.776434030] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [ERROR] [1683034254.969393803] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1683034254.970261438] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
[bt_navigator-4] [INFO] [1683035240.152718719] [bt_navigator]: Begin navigating from current location to (0.31, -0.00)
[controller_server-1] [INFO] [1683035240.251945765] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-1] [INFO] [1683035240.253752127] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [1683035240.255032381] [controller_server]: Passing new path to controller.
[controller_server-1] [WARN] [1683035240.956891873] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035241.265685466] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035241.358088769] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [INFO] [1683035241.358155314] [controller_server]: Passing new path to controller.
[controller_server-1] [WARN] [1683035241.470135928] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035241.578094217] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035241.676752004] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035241.781395659] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035241.880160377] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [INFO] [1683035242.555127528] [controller_server]: Passing new path to controller.
[controller_server-1] [WARN] [1683035242.757372963] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[bt_navigator-4] [ERROR] [1683035243.552037386] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683035243.552126165] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[controller_server-1] [WARN] [1683035244.768058922] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035244.951420115] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035245.071498845] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035247.356817765] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035247.386355431] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035247.568239572] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035247.676385905] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035248.868300870] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035248.982519733] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [INFO] [1683035249.464567428] [controller_server]: Reached the goal!
[bt_navigator-4] [INFO] [1683035271.079337591] [bt_navigator]: Begin navigating from current location to (0.21, -0.84)
[bt_navigator-4] [INFO] [1683035271.251599733] [bt_navigator]: Navigation succeeded
[bt_navigator-4] [INFO] [1683035277.875222722] [bt_navigator]: Begin navigating from current location to (0.11, -0.90)
[controller_server-1] [INFO] [1683035277.978405217] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [1683035277.981881717] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1683035279.086616308] [controller_server]: Passing new path to controller.
[bt_navigator-4] [ERROR] [1683035280.152110564] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683035280.152198547] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[controller_server-1] [WARN] [1683035280.153195128] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [INFO] [1683035280.153249878] [controller_server]: Passing new path to controller.
[controller_server-1] [WARN] [1683035280.680645928] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035282.174361276] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035283.176339701] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035283.656633204] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035284.072784312] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035284.670946535] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035284.762904259] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035285.152246311] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035285.564327200] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035285.664646919] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035286.257406355] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035286.356132334] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035286.560352761] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035289.284947775] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035289.460656872] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035292.982812791] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035294.087602930] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035296.983584275] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035297.166020227] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035297.182851043] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035297.378021264] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035297.484345368] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035299.782692214] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035299.956506249] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035300.377241310] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035305.581392776] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035306.087501464] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035308.256034835] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035308.358193109] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [WARN] [1683035309.264545112] [controller_server]: Control loop missed its desired rate of 10.0000Hz
[controller_server-1] [ERROR] [1683035310.477383244] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1683035310.477564760] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
2

I think it suceeded once but it kept failing the other times.

Below shows my config and launch files:

pathplanner.launch.py:

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():

    controller_yaml = os.path.join(get_package_share_directory('project_path_planning'), 'config', 'controller.yaml')
    bt_navigator_yaml = os.path.join(get_package_share_directory('project_path_planning'), 'config', 'bt_navigator.yaml')
    planner_yaml = os.path.join(get_package_share_directory('project_path_planning'), 'config', 'planner_server.yaml')
    recovery_yaml = os.path.join(get_package_share_directory('project_path_planning'), 'config', 'recovery.yaml')

    
    return LaunchDescription([     
        Node(
            package='nav2_controller',
            executable='controller_server',
            name='controller_server',
            output='screen',
            parameters=[controller_yaml]),

        Node(
            package='nav2_planner',
            executable='planner_server',
            name='planner_server',
            output='screen',
            parameters=[planner_yaml]),
            
        Node(
            package='nav2_recoveries',
            executable='recoveries_server',
            name='recoveries_server',
            parameters=[recovery_yaml],
            output='screen'),

        Node(
            package='nav2_bt_navigator',
            executable='bt_navigator',
            name='bt_navigator',
            output='screen',
            parameters=[bt_navigator_yaml]),

        Node(
            package='nav2_lifecycle_manager',
            executable='lifecycle_manager',
            name='lifecycle_manager_pathplanner',
            output='screen',
            parameters=[{'autostart': True},
                        {'node_names': ['planner_server',
                                        'controller_server',
                                        'recoveries_server',
                                        'bt_navigator']}])
    ])

planner_server.yaml:

planner_server:
  ros__parameters:
    expected_planner_frequency: 10.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

controller.yaml:

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 10.0
    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"] 
    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
    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: 0.26
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      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: 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: 0.25
      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

recovery.yaml:

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 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

bt_navigator.yaml:

# Foxy Version
bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "/home/user/ros2_ws/src/project_path_planning/config/behavior.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

behavior.xml:

<!--
  This Behavior Tree replans the global path periodically at 1 Hz, and has
  recovery actions. Obtained from the official Nav2 package
-->

<!-- Foxy Version -->
<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PipelineSequence name="NavigateWithReplanning">
        <RateController hz="1.0">
          <RecoveryNode number_of_retries="1" name="ComputePathToPose">
            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
            <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/>
        <SequenceStar name="RecoveryActions">
          <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
          <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
          <Spin spin_dist="1.57"/>
          <Wait wait_duration="5"/>
        </SequenceStar>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>

I also made sure to use the foxy version of bt_navigator.yaml and behavior.xml as provided in the forum for a recent post. I also noticed that the ROSject requested a project_params.yaml file but I dont know what was supposed to be inside it so I left that file out.

As you can also tell from the terminal results, the path planning did succeed once but it failed for the rest of them.

Help would be greatly appreciated.

3

Hi @HusamArdah ,

“Control loop missed its desired rate of 10Hz” - This error means that the controller was unable to provide a result in under 10Hz, that is, the controller took more than 0.1 seconds to perform one iteration.
The solution is to reduce the frequency of the controller - set it to a value small enough but greater than planner frequency.
A good value would be 4 Hz for controller and 1 Hz for planner.

Set controller_frequency: 4.0 or 2.0 in your controller.yaml and set expected_planner_frequency: 1.0 in your planner.yaml.

This is basically one single file that contains all the parameters. You can ignore it momentarily. Don’t be confused with that file now.

This should fix your problem. Let me know if you still have issues.

Regards,
Girish

4

The frequency issue got fixed. However my goalpose always gives message saying “send goal failed”. regardless of the message, sometimes it reaches the goal successfully and sometimes it doesn’t. My terminal appears like below:

user:~$ source ~/ros2_ws/install/setup.bashuser:~$ ros2 launch project_path_planning pathplanner.launch.py[INFO] [launch]: All log files
can be found below /home/user/.ros/log/2023-05-03-02-00-02-642
069-4_xterm-13623
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [13714]
[INFO] [planner_server-2]: process started with pid [13716]
[INFO] [recoveries_server-3]: process started with pid [13718]
[INFO] [bt_navigator-4]: process started with pid [13721]
[INFO] [lifecycle_manager-5]: process started with pid [13727]
[bt_navigator-4] [INFO] [1683079203.547033073] [bt_navigator]:
[bt_navigator-4]        bt_navigator lifecycle node launched.
[bt_navigator-4]        Waiting on external lifecycle transitions to activate
[bt_navigator-4]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-4] [INFO] [1683079203.547155883] [bt_navigator]: Creating
[lifecycle_manager-5] [INFO] [1683079203.626451978] [lifecycle_manager_pathplanner]: Creating
[recoveries_server-3] [INFO] [1683079203.728267379] [recoveries_server]:
[recoveries_server-3]   recoveries_server lifecycle node launched.
[recoveries_server-3]   Waiting on external lifecycle transitions to activate
[recoveries_server-3]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-5] [INFO] [1683079203.730421901] [lifecycle_manager_pathplanner]: Creating and initializing lifecycle service clients
[lifecycle_manager-5] [INFO] [1683079203.733448944] [lifecycle_manager_pathplanner]: Starting managed nodes bringup...
[lifecycle_manager-5] [INFO] [1683079203.733606621] [lifecycle_manager_pathplanner]: Configuring planner_server
[planner_server-2] [INFO] [1683079203.744287620] [planner_server]:
[planner_server-2]      planner_server lifecycle node launched.
[planner_server-2]      Waiting on external lifecycle transitions to activate
[planner_server-2]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1683079203.747046189] [planner_server]: Creating
[controller_server-1] [INFO] [1683079203.823349580] [controller_server]:
[controller_server-1]   controller_server lifecycle node launched.
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683079203.839312704] [controller_server]: Creating controllerserver
[controller_server-1] [INFO] [1683079204.146792008] [local_costmap.local_costmap]:
[controller_server-1]   local_costmap lifecycle node launched.
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683079204.218618714] [local_costmap.local_costmap]: Creating Costmap
[planner_server-2] [INFO] [1683079204.246441036] [global_costmap.global_costmap]:
[planner_server-2]      global_costmap lifecycle node launched.
[planner_server-2]      Waiting on external lifecycle transitions to activate
[planner_server-2]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1683079204.247288346] [global_costmap.global_costmap]: Creating Costmap
[planner_server-2] [INFO] [1683079204.336224249] [planner_server]: Configuring
[planner_server-2] [INFO] [1683079204.337115446] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1683079204.347628165] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-2] [INFO] [1683079204.351041196] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1683079204.351811491] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-2] [INFO] [1683079204.351844773] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-2] [INFO] [1683079204.351999787] [global_costmap.global_costmap]: Subscribedto Topics:
[planner_server-2] [INFO] [1683079204.352048489] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-2] [INFO] [1683079204.352071057] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-2] [INFO] [1683079204.352330534] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-2] [INFO] [1683079204.443143413] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 56 X 52 at 0.050000 m/pix
[planner_server-2] [INFO] [1683079204.628151116] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1683079204.628239585] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1683079204.649682348] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-5] [INFO] [1683079204.720334635] [lifecycle_manager_pathplanner]: Configuring controller_server
[controller_server-1] [INFO] [1683079204.720961219] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1683079204.721104548] [controller_server]: Controller frequency set to 4.0000Hz
[controller_server-1] [INFO] [1683079204.721134632] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1683079204.731913725] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-1] [INFO] [1683079204.738315083] [local_costmap.local_costmap]: Subscribing to the map topic (/map) withtransient local durability
[controller_server-1] [INFO] [1683079204.739312191] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-1] [INFO] [1683079204.739345522] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-1] [INFO] [1683079204.742956192] [local_costmap.local_costmap]: Subscribed to Topics:
[controller_server-1] [INFO] [1683079204.743018979] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-1] [INFO] [1683079204.743045302] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1683079204.743317574] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1683079204.750376082] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1683079204.750806103] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1683079204.818478354] [local_costmap.local_costmap]: StaticLayer: Resizing costmap to 56 X 52at 0.050000 m/pix
[controller_server-1] [INFO] [1683079204.818865840] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1683079204.820155369] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1683079204.946467116] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1683079204.947230481] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.947309344] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1683079204.947388110] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.947426543] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1683079204.947471952] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.947507527] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1683079204.947603758] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.947645261] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1683079204.947841122] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.947897952] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1683079204.947967245] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.948005646] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1683079204.948093857] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683079204.948113136] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-5] [INFO] [1683079205.122362414] [lifecycle_manager_pathplanner]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1683079205.124639890] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1683079205.131045445] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1683079205.134199609] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1683079205.146705252] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1683079205.147788623] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1683079205.149440795] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1683079205.150286714] [recoveries_server]: Configuring wait
[lifecycle_manager-5] [INFO] [1683079205.221489981] [lifecycle_manager_pathplanner]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1683079205.225008205] [bt_navigator]: Configuring
[bt_navigator-4] [INFO] [1683079205.639090489] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-4] [INFO] [1683079205.641126774] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-4] [INFO] [1683079205.644107633] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1683079205.644187075] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683079205.645891122] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-4] [INFO] [1683079205.645962461] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-4] [INFO] [1683079205.646313028] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1683079205.646366603] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683079205.646864760] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1683079205.646926859] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683079205.647410908] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1683079205.647473124] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683079205.819998767] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-4] [INFO] [1683079205.823426888] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-4] [INFO] [1683079205.916604656] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-4] [INFO] [1683079205.918498632] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[lifecycle_manager-5] [INFO] [1683079205.930926163] [lifecycle_manager_pathplanner]: Activating planner_server
[planner_server-2] [INFO] [1683079205.932029207] [planner_server]: Activating
[planner_server-2] [INFO] [1683079205.932094932] [global_costmap.global_costmap]: Activating
[planner_server-2] [INFO] [1683079205.932122141] [global_costmap.global_costmap]: Checking transform
[planner_server-2] [INFO] [1683079205.932163981] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079206.432245756] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079206.933309774] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079207.436589432] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079207.935124936] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079208.432248269] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079208.932247993] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079209.432243024] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079209.932238286] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079210.432237622] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079210.932263357] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079211.432227933] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079211.932304753] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079212.432239389] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079212.932235121] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079213.432502776] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079213.934601109] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079214.432248054] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079214.932229910] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079215.432241812] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079215.932249405] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079216.432672951] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079216.933165633] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683079217.433245984] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 95.235000 but the earliest data is at time 95.487000, when looking up transform from frame [base_link] to frame [map]
[planner_server-2] [INFO] [1683079217.933062083] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 95.235000 but the earliest data is at time 95.487000, when looking up transform from frame [base_link] to frame [map]
[planner_server-2] [INFO] [1683079218.432255858] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 95.235000 but the earliest data is at time 95.487000, when looking up transform from frame [base_link] to frame [map]
[planner_server-2] [INFO] [1683079218.936750452] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 95.235000 but the earliest data is at time 95.487000, when looking up transform from frame [base_link] to frame [map]
[planner_server-2] [INFO] [1683079219.432330850] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 95.235000 but the earliest data is at time 95.487000, when looking up transform from frame [base_link] to frame [map]
[planner_server-2] [INFO] [1683079219.932261289] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 95.235000 but the earliest data is at time 95.487000, when looking up transform from frame [base_link] to frame [map]
[planner_server-2] [INFO] [1683079220.433092273] [global_costmap.global_costmap]: start
[planner_server-2] [INFO] [1683079220.516621971] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-5] [INFO] [1683079220.517910093] [lifecycle_manager_pathplanner]: Activating controller_server
[controller_server-1] [INFO] [1683079220.518260923] [controller_server]: Activating
[controller_server-1] [INFO] [1683079220.518330729] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1683079220.518381026] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1683079220.518522142] [local_costmap.local_costmap]: start
[lifecycle_manager-5] [INFO] [1683079220.619357826] [lifecycle_manager_pathplanner]: Activating recoveries_server
[recoveries_server-3] [INFO] [1683079220.620787449] [recoveries_server]: Activating
[recoveries_server-3] [INFO] [1683079220.620842080] [recoveries_server]: Activating spin
[recoveries_server-3] [INFO] [1683079220.620866712] [recoveries_server]: Activating backup
[recoveries_server-3] [INFO] [1683079220.620884505] [recoveries_server]: Activating wait
[lifecycle_manager-5] [INFO] [1683079220.622407985] [lifecycle_manager_pathplanner]: Activating bt_navigator
[bt_navigator-4] [INFO] [1683079220.622793196] [bt_navigator]: Activating
[lifecycle_manager-5] [INFO] [1683079220.623559740] [lifecycle_manager_pathplanner]: Managednodes are active
[bt_navigator-4] [INFO] [1683079223.732934468] [bt_navigator]: Begin navigating from currentlocation to (-0.61, -0.44)
[controller_server-1] [INFO] [1683079223.919901650] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [1683079225.174924340] [controller_server]: Passing new path tocontroller.
[controller_server-1] [INFO] [1683079226.216610289] [controller_server]: Passing new path tocontroller.
[bt_navigator-4] [ERROR] [1683079227.117951834] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683079227.118048605] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1683079252.225166266] [controller_server]: Reached the goal!
[bt_navigator-4] [INFO] [1683079291.426346777] [bt_navigator]: Begin navigating from current location to (-0.29, -0.95)
[bt_navigator-4] [INFO] [1683079291.646892201] [bt_navigator]: Navigation succeeded
[bt_navigator-4] [INFO] [1683079335.720230370] [bt_navigator]: Begin navigating from current location to (-0.21, -0.95)
[controller_server-1] [INFO] [1683079335.747517923] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [1683079335.748862726] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1683079337.016583966] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1683079337.998946657] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1683079339.316880528] [controller_server]: Passing new path to controller.
[bt_navigator-4] [ERROR] [1683079340.068976784] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683079340.069041809] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1683079340.316607593] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1683079353.525026706] [controller_server]: Reached the goal!

How do I fix this issue? Becuase even with errors i somehow sometimes still get output that I reached the goal (not all the time).

5

Hi @HusamArdah ,

Even I had the same issues. That is because of the ROS2 version itself - Foxy.
Those errors were fixed in the Galactic version.

If you are working on ROS2 Navigation Course’s rosject, it would be initially created with ROS2 Foxy. You can change the ROS2 distro to Galactic. Follow this link to change ROS distro for your rosject: Change ROS distro for rosject - #2 by bayodesegun

I hope this helps. Let me know if you still need help.

Regards,
Girish

6

Yes I believe I have tried galactic before but the issue was that I couldn’t source my workspace. Below shows the terminal when I tried that:

user:~$ source ~/ros2_ws/install/setup.bashnot found: "/opt/ros/foxy/local
_setup.bash"user:~$

This is what i ran in the other terminal:

source /opt/ros/noetic/setup.bash
source /opt/ros/galactic/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

I replaced foxy with galactic yet sill couldnt source my workspace. That is why I stuck with foxy for this rosject because I didnt get that error.

7

Hi @HusamArdah ,

Yes, I can understand that problem.

Also you need to use paramter_bridge and not dymanic_bridge with the ros1_bridge.

Regards,
Girish

8

I believe I got this error when I ran that:

user:~$ source /opt/ros/noetic/setup.bashROS_DISTRO was set to 'galactic' before. Please make sure that the environment does not mix paths from different distributions.
user:~$ source /opt/ros/galactic/setup.bash
ROS_DISTRO was set to 'noetic'before. Please make sure that the environment does not mix paths from different distributions.
user:~$ ros2 run ros1_bridge parameter_bridge --bridge-all-topics

terminate called after throwing an instance of 'ros::InvalidNameException'
  what():  Character [-] is not valid as the first character in Graph Resource Name [--bridge-all-topics].  Valid characters are a-z, A-Z, / and insome cases ~.
9

Hi @HusamArdah ,

You cannot just replace dynamic_bridge with parameter_bridge. Because with parameter bridge you bridge only a few topics, therefore --bridge-all-topics argument cannot be used along with parameter_bridge.

You need to learn how parameter bridge works, refer to ROS2 Basics in 5 Days with Python Course to get some knowledge on ros1_bridge. There it is explained (in the last chapter I believe), how to use a parameter_bridge

Regards,
Girish

10

So just to clarify one last time, the issue i’m encountering with goalpose when I get the following error:

[bt_navigator-4] [ERROR] [1683493697.838740325] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683493697.838842371] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

Is becasue of the foxy version im using and not due to any errors I wrote in the code? I would appreciate the clarification. I also noticed that the bt_navigator.yaml file you provided used base_footprint for the robot_base_frame but my recovery.yaml file I copied from the exercise used base_link. Is it a problem that both frames for each yaml file is different? should i make them the same perhaps?

user:~$ ros2 launch project_path_planning pathplanner.launch.py[INFO] [launch]: All log files
can be found below /home/user/.ros/log/2023-05-07-21-07-43-837
616-3_xterm-30770
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [31068]
[INFO] [planner_server-2]: process started with pid [31077]
[INFO] [recoveries_server-3]: process started with pid [31079]
[INFO] [bt_navigator-4]: process started with pid [31083]
[INFO] [lifecycle_manager-5]: process started with pid [31086]
[controller_server-1] [INFO] [1683493665.576799507] [controller_server]:
[controller_server-1]   controller_server lifecycle node launched.
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683493665.668259039] [controller_server]: Creating controllerserver
[planner_server-2] [INFO] [1683493665.867138244] [planner_server]:
[planner_server-2]      planner_server lifecycle node launched.
[planner_server-2]      Waiting on external lifecycle transitions to activate
[planner_server-2]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1683493665.869402567] [planner_server]: Creating
[bt_navigator-4] [INFO] [1683493665.949482377] [bt_navigator]:
[bt_navigator-4]        bt_navigator lifecycle node launched.
[bt_navigator-4]        Waiting on external lifecycle transitions to activate
[bt_navigator-4]        See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-5] [INFO] [1683493666.027881395] [lifecycle_manager_pathplanner]: Creating
[bt_navigator-4] [INFO] [1683493666.041337757] [bt_navigator]: Creating
[lifecycle_manager-5] [INFO] [1683493666.419725086] [lifecycle_manager_pathplanner]: Creating and initializing lifecycle service clients
[recoveries_server-3] [INFO] [1683493666.454650893] [recoveries_server]:
[recoveries_server-3]   recoveries_server lifecycle node launched.
[recoveries_server-3]   Waiting on external lifecycle transitions to activate
[recoveries_server-3]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-5] [INFO] [1683493666.585720320] [lifecycle_manager_pathplanner]: Starting managed nodes bringup...
[lifecycle_manager-5] [INFO] [1683493666.587167292] [lifecycle_manager_pathplanner]: Configuring planner_server
[controller_server-1] [INFO] [1683493666.598934322] [local_costmap.local_costmap]:
[controller_server-1]   local_costmap lifecycle node launched.
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1683493666.649271196] [local_costmap.local_costmap]: Creating Costmap
[planner_server-2] [INFO] [1683493666.770739128] [global_costmap.global_costmap]:
[planner_server-2]      global_costmap lifecycle node launched.
[planner_server-2]      Waiting on external lifecycle transitions to activate
[planner_server-2]      See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1683493666.776260442] [global_costmap.global_costmap]: Creating Costmap
[planner_server-2] [INFO] [1683493667.010444138] [planner_server]: Configuring
[planner_server-2] [INFO] [1683493667.010498918] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1683493667.120738601] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-2] [INFO] [1683493667.167855292] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1683493667.196527588] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-2] [INFO] [1683493667.208712811] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-2] [INFO] [1683493667.238104900] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 56 X 52 at 0.050000 m/pix
[planner_server-2] [INFO] [1683493667.238442566] [global_costmap.global_costmap]: Subscribedto Topics:
[planner_server-2] [INFO] [1683493667.238499560] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-2] [INFO] [1683493667.238525530] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-2] [INFO] [1683493667.239103266] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-2] [INFO] [1683493667.449423666] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1683493667.458210234] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1683493667.659490714] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-5] [INFO] [1683493667.785881985] [lifecycle_manager_pathplanner]: Configuring controller_server
[controller_server-1] [INFO] [1683493667.788878273] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1683493667.789031204] [controller_server]: Controller frequency set to 10.0000Hz
[controller_server-1] [INFO] [1683493667.789064491] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1683493667.811925493] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-1] [INFO] [1683493667.838474683] [local_costmap.local_costmap]: Subscribing to the map topic (/map) withtransient local durability
[controller_server-1] [INFO] [1683493667.850476481] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-1] [INFO] [1683493667.850582737] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-1] [INFO] [1683493667.857194850] [local_costmap.local_costmap]: Subscribed to Topics:
[controller_server-1] [INFO] [1683493667.858125965] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-1] [INFO] [1683493667.858153707] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1683493667.858438710] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1683493667.898654506] [local_costmap.local_costmap]: StaticLayer: Resizing costmap to 56 X 52at 0.050000 m/pix
[controller_server-1] [INFO] [1683493667.969171160] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1683493667.989739953] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1683493668.042279176] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1683493668.061966025] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1683493668.447260093] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1683493668.447452781] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.447523823] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1683493668.447630790] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.447685765] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1683493668.447737992] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.447787662] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1683493668.447920696] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.447976904] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1683493668.448089312] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.448148421] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1683493668.496788825] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.500723025] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1683493668.509038553] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1683493668.509206733] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-5] [INFO] [1683493668.633142067] [lifecycle_manager_pathplanner]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1683493668.636362089] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1683493668.640788936] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1683493668.649235684] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1683493668.716179747] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1683493668.720826012] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1683493668.799487800] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1683493668.806135451] [recoveries_server]: Configuring wait
[lifecycle_manager-5] [INFO] [1683493668.922654359] [lifecycle_manager_pathplanner]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1683493668.923947264] [bt_navigator]: Configuring
[bt_navigator-4] [INFO] [1683493669.652763476] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-4] [INFO] [1683493669.659410695] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-4] [INFO] [1683493669.695059371] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1683493669.707157952] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683493669.804144907] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-4] [INFO] [1683493669.805605218] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-4] [INFO] [1683493669.839860225] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1683493669.841806407] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683493669.862449530] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1683493669.872556570] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683493669.889542957] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1683493669.890117991] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1683493669.999451804] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-4] [INFO] [1683493670.003788293] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-4] [INFO] [1683493670.168042889] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-4] [INFO] [1683493670.168240803] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[lifecycle_manager-5] [INFO] [1683493670.182324418] [lifecycle_manager_pathplanner]: Activating planner_server
[planner_server-2] [INFO] [1683493670.184031942] [planner_server]: Activating
[planner_server-2] [INFO] [1683493670.184084139] [global_costmap.global_costmap]: Activating
[planner_server-2] [INFO] [1683493670.184109239] [global_costmap.global_costmap]: Checking transform
[planner_server-2] [INFO] [1683493670.184154009] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493670.684670623] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493671.184221999] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493671.686021067] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493672.184223691] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493672.684259610] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493673.185963458] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493673.685776419] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493674.193396351] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493674.689286961] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493675.184373379] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493675.684246274] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493676.186645517] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493676.686842221] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493677.184227052] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493677.684490241] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493678.186307022] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493678.684240564] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493679.185807609] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493679.685224797] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493680.193795491] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493680.685988829] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493681.190016134] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame doesnot exist
[planner_server-2] [INFO] [1683493681.690409980] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 177.266000 butthe earliest data is at time 177.505000, when looking up transform from frame [base_link] toframe [map]
[planner_server-2] [INFO] [1683493682.191307852] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 177.368000 butthe earliest data is at time 177.505000, when looking up transform from frame [base_link] toframe [map]
[planner_server-2] [INFO] [1683493682.693928539] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 177.501000 butthe earliest data is at time 177.505000, when looking up transform from frame [base_link] toframe [map]
[planner_server-2] [INFO] [1683493683.184250171] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 177.501000 butthe earliest data is at time 177.505000, when looking up transform from frame [base_link] toframe [map]
[planner_server-2] [INFO] [1683493683.684252962] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 177.501000 butthe earliest data is at time 177.505000, when looking up transform from frame [base_link] toframe [map]
[planner_server-2] [INFO] [1683493684.185863335] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 177.501000 butthe earliest data is at time 177.505000, when looking up transform from frame [base_link] toframe [map]
[planner_server-2] [INFO] [1683493684.684284287] [global_costmap.global_costmap]: start
[planner_server-2] [INFO] [1683493684.734562750] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-5] [INFO] [1683493684.737800817] [lifecycle_manager_pathplanner]: Activating controller_server
[controller_server-1] [INFO] [1683493684.738795509] [controller_server]: Activating
[controller_server-1] [INFO] [1683493684.738851724] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1683493684.738880666] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1683493684.739012533] [local_costmap.local_costmap]: start
[lifecycle_manager-5] [INFO] [1683493684.848395122] [lifecycle_manager_pathplanner]: Activating recoveries_server
[recoveries_server-3] [INFO] [1683493684.850749127] [recoveries_server]: Activating
[recoveries_server-3] [INFO] [1683493684.850805736] [recoveries_server]: Activating spin
[recoveries_server-3] [INFO] [1683493684.850831009] [recoveries_server]: Activating backup
[recoveries_server-3] [INFO] [1683493684.850850523] [recoveries_server]: Activating wait
[lifecycle_manager-5] [INFO] [1683493684.857542384] [lifecycle_manager_pathplanner]: Activating bt_navigator
[bt_navigator-4] [INFO] [1683493684.860489441] [bt_navigator]: Activating
[lifecycle_manager-5] [INFO] [1683493684.867572011] [lifecycle_manager_pathplanner]: Managednodes are active
[bt_navigator-4] [INFO] [1683493697.792677986] [bt_navigator]: Begin navigating from currentlocation to (-0.89, -0.38)
[bt_navigator-4] [ERROR] [1683493697.838740325] [bt_navigator]: Action server failed while executing action callback: "send_goal failed"
[bt_navigator-4] [WARN] [1683493697.838842371] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
11

Hi @HusamArdah ,

If you check your URDF of the robot OR the TF Frames graph, you will notice that the real robot does not have base_link, but base_footprint instead. That is what you must use for robot_base_frame. So replace base_link with base_footprint for every robot_base_frame parameter in every yaml config file.

Try this change and let me know if things worked for you.

Regards,
Girish

1 Like
12

Thank you for everything, I appreciate your help.