Robust nav2 and localization param files? Anyone actually using TurtleBot4_navigation? #685
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I have been really bashing my head with TurtleBot4_navigation. I have a customized nav2.yaml file that will navigate pretty reliably in my home, as long as I don't try to check /battery_state while it is navigating. That will cause all kinds of goal failed, or crazy dancing to avoid the wall it should not have turned to look at in the first place. I feel like I am back 18 months ago fighting the discovery server and RMW choking, until iRobot created the create3_republisher. Nav2 has too many parameters, too many simultaneous node "thinking" going on, for me to be able to make it rock solid. Add to that, I feel like I may be the only person in the world actually using a TurtleBot4. Anyone actually using Turtlebot4_navigation?p.s. Don't trust Google Gemini suggestions! Your brain will fry and your parameter files will be scattered all over the floor - a total mess. Don't take any navigation or localization parameter suggestions from Google Gemini. |
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Perhaps this is a known FastDDS Discovery issue: Would seem to indicate that our TurtleBot4 programming and debugging need to ensure that no node or subscription initiations are performed while the TurtleBot4_navigation is planning a path or path following. |
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Perhaps this is a known FastDDS Discovery issue:
ros2/rmw_fastrtps#741
Would seem to indicate that our TurtleBot4 programming and debugging need to ensure that no node or subscription initiations are performed while the TurtleBot4_navigation is planning a path or path following.