[ros-users] Navigation stack : Error : Aborting because a valid plan could not be found

Eitan Marder-Eppstein eitan at willowgarage.com
Tue Nov 23 21:26:51 UTC 2010


Shanker,

Have you tried looking at things in rviz to see if the robot sees any
obstacles that would prevent it from creating a valid plan.

This tutorial might be of use:
http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

Also, the origin of the map should be in meters, not in pixels. Based on the
map you attached, this seems like it could be reasonable. Typically, 0.0,
0.0 corresponds to the point on the map where the robot started. You'll need
to set the inital pose of the robot in the map for AMCL in order for things
to work correctly. Have you been able to verify that localization works
independent of the navigation stack by driving the robot around with a
joystick?

Hope this helps,

Eitan

On Tue, Nov 23, 2010 at 12:11 PM, shankerk <shankerkeshavdas at gmail.com>wrote:

>
> Hi,
>
> I have been setting up the navigation stack for a Pioneer 3 AT robot and
> have run into some issues. I went through the ROS Users page and the
> tutorials (of course), and though they helped clear small problems along
> the
> way, I seem to have run into a dead-end. Any help is appreciated!
>
> I followed this very well written tutorial (
> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup ). I created a
> map,
> then the test is as follows: First, I run my laser, odometry and tf node.
> Then I run the "move_base.launch" and then "simple_navigation_goals", as
> described in the tutorial.
>
> Details:
>
> Running move_base.launch
>
> shanker at DFKIShankerMBpro
> :/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
> roslaunch move_base.launch
> ... logging to
>
> /home/shanker/.ros/log/ad23bc38-f6f3-11df-bf25-34159e19aa5c/roslaunch-DFKIShankerMBpro-11496.log
> Checking log directory for disk usage. This may take awhile.
> Press Ctrl-C to interrupt
> Done checking log file disk usage. Usage is <1GB.
>
> started roslaunch server http://DFKIShankerMBpro:46805/
>
> SUMMARY
> ========
>
> PARAMETERS
>  * /move_base/global_costmap/robot_base_frame
>  * /amcl/laser_likelihood_max_dist
>  * /amcl/laser_max_beams
>  * /move_base/local_costmap/laser_scan_sensor/sensor_frame
>  * /amcl/gui_publish_rate
>  * /amcl/max_particles
>  * /amcl/laser_z_max
>  * /move_base/local_costmap/footprint
>  * /amcl/laser_model_type
>  * /amcl/laser_z_hit
>  * /move_base/local_costmap/publish_frequency
>  * /amcl/odom_model_type
>  * /amcl/min_particles
>  * /amcl/laser_sigma_hit
>  * /amcl/recovery_alpha_fast
>  * /move_base/local_costmap/height
>  * /move_base/TrajectoryPlannerROS/min_vel_x
>  * /move_base/global_costmap/laser_scan_sensor/marking
>  * /amcl/recovery_alpha_slow
>  * /move_base/TrajectoryPlannerROS/acc_lim_x
>  * /amcl/laser_z_short
>  * /move_base/global_costmap/transform_tolerance
>  * /move_base/global_costmap/update_frequency
>  * /move_base/local_costmap/transform_tolerance
>  * /move_base/global_costmap/inflation_radius
>  * /move_base/local_costmap/obstacle_range
>  * /move_base/local_costmap/update_frequency
>  * /move_base/global_costmap/laser_scan_sensor/sensor_frame
>  * /move_base/global_costmap/raytrace_range
>  * /move_base/local_costmap/raytrace_range
>  * /move_base/global_costmap/obstacle_range
>  * /move_base/local_costmap/inflation_radius
>  * /amcl/laser_z_rand
>  * /move_base/local_costmap/width
>  * /move_base/local_costmap/laser_scan_sensor/clearing
>  * /move_base/TrajectoryPlannerROS/acc_lim_y
>  * /move_base/global_costmap/footprint
>  * /move_base/global_costmap/global_frame
>  * /amcl/transform_tolerance
>  * /move_base/global_costmap/laser_scan_sensor/topic
>  * /move_base/global_costmap/laser_scan_sensor/data_type
>  * /move_base/TrajectoryPlannerROS/acc_lim_th
>  * /amcl/kld_err
>  * /amcl/odom_alpha4
>  * /amcl/odom_alpha5
>  * /move_base/local_costmap/global_frame
>  * /amcl/odom_alpha1
>  * /amcl/odom_alpha2
>  * /amcl/odom_alpha3
>  * /move_base/TrajectoryPlannerROS/max_rotational_vel
>  * /move_base/local_costmap/static_map
>  * /move_base/local_costmap/resolution
>  * /move_base/local_costmap/laser_scan_sensor/data_type
>  * /move_base/TrajectoryPlannerROS/holonomic_robot
>  * /move_base/local_costmap/laser_scan_sensor/marking
>  * /amcl/kld_z
>  * /amcl/odom_frame_id
>  * /move_base/local_costmap/robot_base_frame
>  * /amcl/resample_interval
>  * /amcl/update_min_a
>  * /move_base/local_costmap/observation_sources
>  * /amcl/update_min_d
>  * /move_base/global_costmap/observation_sources
>  * /move_base/local_costmap/laser_scan_sensor/topic
>  * /amcl/laser_lambda_short
>  * /move_base/TrajectoryPlannerROS/max_vel_x
>  * /move_base/local_costmap/rolling_window
>  * /move_base/global_costmap/static_map
>  * /move_base/global_costmap/laser_scan_sensor/clearing
>  * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
>
> NODES
>  /
>    map_server (map_server/map_server)
>    amcl (amcl/amcl)
>    move_base (move_base/move_base)
>
> ROS_MASTER_URI=http://DFKIShankerMBpro:11311/
>
> core service [/rosout] found
> process[map_server-1]: started with pid [11515]
> process[amcl-2]: started with pid [11516]
> process[move_base-3]: started with pid [11517]
> [ INFO] [1290511268.195739611]: Subscribed to Topics: laser_scan_sensor
> [ WARN] [1290511273.204655771]: Waiting on transform from base_link to /map
> to become available before running costmap, tf error: Frame id /map does
> not
> exist!
> [ WARN] [1290511278.298101570]: Waiting on transform from base_link to /map
> to become available before running costmap, tf error: Frame id /map does
> not
> exist!
> [ INFO] [1290511280.473965257]: Requesting the map...
>
> [ INFO] [1290511280.475752738]: Still waiting on map...
>
> [ INFO] [1290511281.478056618]: Still waiting on map...
>
> [ INFO] [1290511282.480131699]: Received a 384 X 832 map at 0.100000 m/pix
>
> [ INFO] [1290511282.648170444]: MAP SIZE: 384, 832
> [ INFO] [1290511282.654468446]: Subscribed to Topics: laser_scan_sensor
> [ INFO] [1290511282.692034129]: Requesting the map...
>
> [ INFO] [1290511282.694425450]: Still waiting on map...
>
> [ WARN] [1290511283.708149491]: You have set map parameters, but also
> requested to use the static map. Your parameters will be overwritten by
> those given by the map server
> [ INFO] [1290511283.708245171]: Received a 384 X 832 map at 0.100000 m/pix
>
>
> Then I run :
>  shanker at DFKIShankerMBpro:~/Workspace/maps$ rosrun simple_navigation_goals
> simple_navigation_goals
> [ INFO] [1290511325.971896256]: Sending goal
> [ INFO] [1290511326.423739671]: The base failed to move forward 1 meter for
> some reason
>
>
> Then in the other window it continues:
> [ WARN] [1290511326.323951650]: Publisher on '/cmd_vel' destroyed
> immediately after creation.  Did you forget to store the handle?
> [ERROR] [1290511326.423324991]: Aborting because a valid plan could not be
> found. Even after executing all recovery behaviors
>
> Here is my simple_navigation_goals file:
>
>  20   //we'll send a goal to the robot to move 1 meter forward
>  21   goal.target_pose.header.frame_id = "base_link";
>  22   goal.target_pose.header.stamp = ros::Time::now();
>  23
>  24   goal.target_pose.pose.position.x = 0.2;
>  25   goal.target_pose.pose.orientation.w = 1.0;
>  26
>  27   ROS_INFO("Sending goal");
>  28   ac.sendGoal(goal);
>
> The change I've made above is simply to move only 0.2 m ahead, just to test
> the program.
>
>
> Here are the topics that I generate:
>
> robo at pioneer3at:~$ rostopic list
> /amcl_pose
> /clock
> /cmd_vel
> /initialpose
> /map
> /map_metadata
> /move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
> /move_base/NavfnROS/NavfnROS_costmap/obstacles
> /move_base/NavfnROS/NavfnROS_costmap/robot_footprint
> /move_base/NavfnROS/NavfnROS_costmap/unknown_space
> /move_base/NavfnROS/plan
> /move_base/TrajectoryPlannerROS/global_plan
> /move_base/TrajectoryPlannerROS/local_plan
> /move_base/cancel
> /move_base/current_goal
> /move_base/feedback
> /move_base/global_costmap/inflated_obstacles
> /move_base/global_costmap/obstacles
> /move_base/global_costmap/robot_footprint
> /move_base/global_costmap/unknown_space
> /move_base/goal
> /move_base/local_costmap/inflated_obstacles
> /move_base/local_costmap/obstacles
> /move_base/local_costmap/robot_footprint
> /move_base/local_costmap/unknown_space
> /move_base/result
> /move_base/status
> /move_base_simple/goal
> /odom
> /particlecloud
> /reset_time
> /rosout
> /rosout_agg
> /scan
> /tf
> /tf_message
> /time
>
> Necessary details on individual topics:
>
> TF
> robo at pioneer3at:~$ rostopic echo -c /tf
> transforms: [
>    header:
>      seq: 42319
>      stamp: 1290511461348894000
>      frame_id: /base_link
>    child_frame_id: /laser
>    transform:
>      translation:
>        x: 0.1
>        y: 0.0
>        z: 0.0
>      rotation:
>        x: 0.0
>        y: 0.0
>        z: 0.0
>        w: 1.0]
> transforms: [
>    header:
>      seq: 0
>      stamp: 1290511461144931000
>      frame_id: /map
>    child_frame_id: /odom
>    transform:
>      translation:
>        x: -6.05727013824e-06
>        y: 0.000999981654571
>        z: -0.0
>      rotation:
>        x: -0.0
>        y: -0.0
>        z: 0.00302864895962
>        w: 0.999995413632]
> transforms: [
>    header:
>      seq: 6347
>      stamp: 1290511461326456000
>      frame_id: /odom
>    child_frame_id: /base_link
>    transform:
>      translation:
>        x: 0.0
>        y: -0.001
>        z: 0.0
>      rotation:
>        x: 0.0
>        y: -0.0
>        z: -0.00302864895962
>        w: 0.999995413632]
>
> Odometry
> header:
>  seq: 14072
>  stamp: 1290511718818769000
>  frame_id: odom
> child_frame_id:
> pose:
>  pose:
>    position:
>      x: 0.0
>      y: -0.001
>      z: 0.0
>    orientation:
>      x: -0.0
>      y: 0.0
>      z: 0.00302864895962
>      w: -0.999995413632
>  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
> 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
> 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
> twist:
>  twist:
>    linear:
>      x: 0.0
>      y: 0.0
>      z: 0.0
>    angular:
>      x: 0.0
>      y: 0.0
>      z: 0.0
>  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
> 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
> 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
>
> Parameter files:
>
> Costmap:
> obstacle_range: 2.5
> raytrace_range: 3.0
> footprint: [[27.5,32.5], [-27.5,32.5], [-27.5,-32.5], [27.5,-32.5]]
> observation_sources: laser_scan_sensor
> transform_tolerance: 0.3
> laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic:
> /scan,
> marking: true, clearing: true}
> inflation_radius: 0.55
>
> Base local planner:
> TrajectoryPlannerROS:
>  max_vel_x: 0.45
>  min_vel_x: 0.1
>  max_rotational_vel: 1.0
>  min_in_place_rotational_vel: 0.4
>  acc_lim_th: 3.2
>  acc_lim_x: 2.5
>  acc_lim_y: 2.5
>  holonomic_robot: false
>
> Local Costmap file:
> local_costmap:
>  global_frame: odom
>  robot_base_frame: base_link
>  update_frequency: 1
>  publish_frequency: 0
>  static_map: true
>  rolling_window: true
>  width: 6.0
>  height: 6.0
>  resolution: 0.1
>
> Global costmap file:
> global_costmap:
>   global_frame: /map
>   robot_base_frame: base_link
>   update_frequency: 1.0
>   static_map: true
>
> Diagnostics:
>
> ROSWTF
>
>
> Before running simple nav goals:
>
> shanker at DFKIShankerMBpro
> :/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
> roswtf
> Loaded plugin tf.tfwtf
> Package: 2dnav_PioneerDFKI
>
> ================================================================================
> Static checks summary:
>
> Found 1 warning(s).
> Warnings are things that may be just fine, but are sometimes at fault
>
> WARNING The following packages have msg/srv-related cflags exports that are
> no longer necessary
>        <export>
>                <cpp cflags="..."
>        </export>:
>  * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
>  * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
>  * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
>  * costmap_2d: -I${prefix}/msg/cpp
>  * actionlib_msgs: -I${prefix}/msg/cpp
>  * geometry_msgs: -I${prefix}/msg/cpp
>  * visualization_msgs: -I${prefix}/msg/cpp
>  * move_base_msgs: -I${prefix}/msg/cpp
>  * base_local_planner: -I${prefix}/msg/cpp
>  * actionlib: -I${prefix}/msg/cpp
>  * navfn: -I${prefix}/srv/cpp
>
>
>
> ================================================================================
> Beginning tests of your ROS graph. These may take awhile...
> analyzing graph...
> ... done analyzing graph
> running graph rules...
> ... done running graph rules
> running tf checks, this will take a second...
> ... tf checks complete
>
> Online checks summary:
>
> Found 2 warning(s).
> Warnings are things that may be just fine, but are sometimes at fault
>
> WARNING The following node subscriptions are unconnected:
>  * /amcl:
>   * /initialpose
>   * /reset_time
>  * /move_base:
>   * /move_base_simple/goal
>   * /move_base/cancel
>   * /reset_time
>   * /tf_message
>
> WARNING The following nodes are unexpectedly connected:
>  * /driver->/rosout (/rosout)
>  * /move_base->/rosout (/rosout)
>  * /sicklms->/rosout (/rosout)
>  * /amcl->/rosout (/rosout)
>  * /map_server->/rosout (/rosout)
>  * /tflaserlink->/rosout (/rosout)
>  * /odomesub->/rosout (/rosout)
>
> After running simple navigation goals:
>
> shanker at DFKIShankerMBpro
> :/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$
> roswtf
> Loaded plugin tf.tfwtf
> Package: 2dnav_PioneerDFKI
>
> ================================================================================
> Static checks summary:
>
> Found 1 warning(s).
> Warnings are things that may be just fine, but are sometimes at fault
>
> WARNING The following packages have msg/srv-related cflags exports that are
> no longer necessary
>        <export>
>                <cpp cflags="..."
>        </export>:
>  * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
>  * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
>  * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp
>  * costmap_2d: -I${prefix}/msg/cpp
>  * actionlib_msgs: -I${prefix}/msg/cpp
>  * geometry_msgs: -I${prefix}/msg/cpp
>  * visualization_msgs: -I${prefix}/msg/cpp
>  * move_base_msgs: -I${prefix}/msg/cpp
>  * base_local_planner: -I${prefix}/msg/cpp
>  * actionlib: -I${prefix}/msg/cpp
>  * navfn: -I${prefix}/srv/cpp
>
>
>
> ================================================================================
> Beginning tests of your ROS graph. These may take awhile...
> analyzing graph...
> ... done analyzing graph
> running graph rules...
> ... done running graph rules
> running tf checks, this will take a second...
> ... tf checks complete
>
> Online checks summary:
>
> Found 2 warning(s).
> Warnings are things that may be just fine, but are sometimes at fault
>
> WARNING The following node subscriptions are unconnected:
>  * /amcl:
>   * /initialpose
>   * /reset_time
>  * /move_base:
>   * /move_base_simple/goal
>   * /move_base/cancel
>   * /reset_time
>   * /tf_message
>
> WARNING The following nodes are unexpectedly connected:
>  * /driver->/rosout (/rosout)
>  * /move_base->/simple_navigation_goals (/move_base/result)
>  * /move_base->/rosout (/rosout)
>  * /sicklms->/rosout (/rosout)
>  * /amcl->/rosout (/rosout)
>  * /map_server->/rosout (/rosout)
>  * /tflaserlink->/rosout (/rosout)
>  * /move_base->/simple_navigation_goals (/move_base/feedback)
>  * /odomesub->/rosout (/rosout)
>
> RXGraph
>
> http://ros-users.122217.n3.nabble.com/file/n1956004/Beforesimplenav.jpg
>
> The map I used :
>
> http://ros-users.122217.n3.nabble.com/file/n1956004/broadcorridor1.jpg
>
> broadcorridor1.yaml:
>
> image: broadcorridor1.pgm
> resolution: 0.100000
> origin: [-20.000000, -64.800000, 0.000000]
> negate: 0
> occupied_thresh: 0.65
> free_thresh: 0.196
>
> Questions:
>
> 1. One thing Im not sure is that the "origin" part of the map yaml file
> says
> (-20, -64.8). That's the pixel in the image is it not? And not the odometry
> on the robot when I started the map? I'm fairly confident that I started at
> odometry (0,0) when I started mapping.
>
> 2. Is this simply a localization issue that it thinks it is at a different
> position than I assume? Is there a separate error message if that happens?
>
> Thanks for your time,
>
> Best
> Shanker
>
>
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/Navigation-stack-Error-Aborting-because-a-valid-plan-could-not-be-found-tp1956004p1956004.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
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