Nav2 Stalling on Multiple Robots? #4350
Comments
Almost certainly. You can see that If that fixes things, then we could store the namespace in the constructor and use it here automatically. Should be easy: |
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Thanks for the reply! Unfortunately I don't think it worked (unless I did it wrong). Here is the modified code: One of my runs gave me this as the terminal output: I ran the exact same commands again and I got a slightly different output that looks like this: In addition, I tried just running the nav2 that is provided with turtlebot4 and gives a similar error, although not the same: Thanks for the help! |
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I did not mean to close this, that is my bad! |
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I can't comment on the TB4 stuff - but did you try this with our multirobot bringup? The TB4 package might not be working properly... What's your
This is making me think its just another instance of a similar problem elsewhere in launch. I don't totally put it above a Nav2 problem, but this looks like a launch issue with TB4 config files not respecting namespaces in the lifecycle manager's node list |
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Running In addition, when I run I agree that it is probably something to do with Turtlebot4 and not as much NAV2. An interesting thing is that about ten or so topics are not seen in /robot2 including Again, thanks for the help. |
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In that case, this line:
Points to the likely issue being that their eq of https://github.com/ros-navigation/navigation2/blob/main/nav2_bringup/launch/navigation_launch.py#L43 isn't respecting namespaces. Its looking for I think you should file this with the TB4 folks. The namespace issue in the |
This was referenced May 20, 2024
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Any update? |
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A few updates so far: It seems that the TB4 team has other work at the moment, and they are not able to answer the tickets. I decided to look into this more myself as the project I am working on requires multiple NAV2 modules working at once. I found that using the bringup_launch.py from the nav2_bringup package allows me to bring up multiple modules at the same time! It seems their launch file may have some issues, although I am not sure what. The problem I have now run into is that the local costmap appears blank from Nav2. It seems to be publishing a blank costmap. I checked through #3034, but their solution does not seem to work in my case. I also tried changing the parameter file to one that works with TB4, but that doesn't seem to change anything. Nav2 still works on both robots, it is just missing the costmap which means the robots can't see dynamic obstacles. Luckily, this is not a huge problem at the moment, but it is something I need to fix in a week or so. I am not sure what code/terminal outputs you might need, so just let me know and I will get back to you. As always, thanks for your help! |
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Great, I think that means we can close this? The issues are with the TB4 launch files and our stuff here works. Happy to respond here though if things come up! |
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Bug report
Required Info:
Steps to reproduce issue
This is the code I am currently looking at (everything else in the file is not run yet)
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py namespace:=/robot1 localization:=true rviz:=trueros2 launch turtlebot4_ignition_bringup turtlebot4_spawn.launch.py namespace:=/robot2 localization:=true rviz:=trueros2 run my_nav my_nav_py_node --ros-args -r __ns:=/robot2Expected behavior
I expect the second robot to wait until nav2 is active, then start with the tasks
Actual behavior
It freezes up while waiting for Nav2. The output runs forever unless you use a keyboard interrupt:
Additional information
I am thinking this may be a namespacing problem? The thing I can't figure out is why it seems to work sometimes with the first robot spawned but never the second. Also, I do not think this is a turtlebot4 specific problem, but if it is please let me know!
Thanks!
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