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POST No. 2407946
Turtlebot waffle pi stops several times during navigation
2020-09-18 12:34:56 trapelog

Hi,

I have been doing navigation with Turtlebot3 Waffle Pi in a long hallway (about 35 m long and 6 m wide) several times, and every time my turtlebot stops several times as it moves. I checked the log and I got these kinds of messages.


[ WARN] [1600235267.405432545]: Costmap2DROS transform timeout. Current time: 1600235267.4053, global_pose stamp: 1600235266.3656, tolerance: 1.0000

[ WARN] [1600235267.421960894]: Could not get robot pose, cancelling reconfiguration

[ WARN] [1600235267.535741750]: Unable to get starting pose of robot, unable to create global plan

[ WARN] [1600235268.338747156]: Unable to get starting pose of robot, unable to create global plan

[ WARN] [1600235268.405558738]: Costmap2DROS transform timeout. Current time: 1600235268.4055, global_pose stamp: 1600235267.3666, tolerance: 1.0000

[ WARN] [1600235268.422224511]: Could not get robot pose, cancelling reconfiguration

[ WARN] [1600235268.652427405]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 1.4312 seconds

[ INFO] [1600235268.652780854]: Got new plan

[ WARN] [1600235268.652925196]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.9324 seconds

[ERROR] [1600235268.653047803]: Could not get robot pose

[ERROR] [1600235268.653208997]: Could not get robot pose

[ WARN] [1600235268.653397413]: Unable to get starting pose of robot, unable to create global plan

[ INFO] [1600235268.852685909]: Got new plan

[ERROR] [1600235268.852765310]: Could not get robot pose

[ERROR] [1600235268.852787897]: Could not get robot pose

[ WARN] [1600235268.853028646]: Unable to get starting pose of robot, unable to create global plan

[ INFO] [1600235269.052850008]: Got new plan

[ WARN] [1600235270.378883711]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 1.3265 seconds

[ INFO] [1600235270.378955984]: Got new plan

[ WARN] [1600235270.379425093]: Map update loop missed its desired rate of 10.0000Hz... the loop actually took 0.8265 seconds

[ WARN] [1600235271.751478906]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 1.3725 seconds

[ INFO] [1600235271.751570140]: Got new plan

As for my hardware setup, I run Linux as a virtual machine that has 8 GB RAM and 4 core CPU (core i7).

When I checked the system monitor, the CPU ran at about 60~80% and about 6~7 GB of RAM was used.


I tried to change some parameters, but I ended up with a rotation recovery message, so I reset the parameters to the default value.

Can anyone help me by pointing out which parameters should I tune to make the navigation more smooth?

I appreciate it if someone can help me with this problem.

Thank you.


P.S. Since I keep getting error when I write out my parameters in this post, I have attached the navigation log that includes the parameters value.

2020-09-18 12:34:56
trapelog
2020-09-22 14:57:56 Will Son

Hi,


Please check to the GitHub issue thread below.

You might get a useful information.

https://github.com/ROBOTIS-GIT/turtlebot3/issues/78 


Also, when running Navigation on a long hallway without any distinctive object in the middle, it is very difficult for a navigation to determine where the robot is.

I'd recommend to put some objects in the middle as a reference point.

Thank you.

2020-09-22 14:57:56
willson
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