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The last action goal to "get_path" has been REJECTED #30

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CTGUMARK opened this issue Sep 14, 2021 · 11 comments
Open

The last action goal to "get_path" has been REJECTED #30

CTGUMARK opened this issue Sep 14, 2021 · 11 comments

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@CTGUMARK
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CTGUMARK commented Sep 14, 2021 •
edited by Timple
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I found 5 questions while running the test file. Can you answer me if you have time?

The error is as follows

[ WARN] [1631606718.884913666]: No controllers plugins configured! - Use the param "controllers", which must be a list of tuples with a name and a type.
[ WARN] [1631606718.885140817]: No recovery_behaviors plugins configured! - Use the param "recovery_behaviors", which must be a list of tuples with a name and a type.
[ WARN] [1631606724.687575918]: No plugin loaded with the given name "navfn/NavfnROS"!
[ERROR] [1631606724.687814551]: The last action goal to "get_path" has been REJECTED
[ WARN] [1631606730.663607135]: No plugin loaded with the given name "navfn/NavfnROS"!
[ERROR] [1631606730.663776138]: The last action goal to "get_path" has been REJECTED
[ WARN] [1631606732.279851432]: No plugin loaded with the given name "navfn/NavfnROS"!
[ERROR] [1631606732.280002554]: The last action goal to "get_path" has been REJECTED

This is my terminal log

wuxi@wuxi-ThinkBook-14-G2-ITL:~/keenon_move_base$ roslaunch full_coverage_path_planner test_full_coverage_path_planner_plugin.launch 
... logging to /home/wuxi/.ros/log/7fd69b74-1532-11ec-a2e1-683e26832183/roslaunch-wuxi-ThinkBook-14-G2-ITL-31140.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://wuxi-ThinkBook-14-G2-ITL:45917/

SUMMARY
========

PARAMETERS
 * /grid_server/frame_id: /map
 * /mobile_robot_simulator/odometry_topic: /odom
 * /mobile_robot_simulator/publish_map_transform: True
 * /mobile_robot_simulator/publish_rate: 10.0
 * /mobile_robot_simulator/velocity_topic: /move_base/cmd_vel
 * /move_base_flex/SpiralSTC/robot_radius: 0.1
 * /move_base_flex/SpiralSTC/tool_radius: 0.1
 * /move_base_flex/global_costmap/robot_radius: 0.1
 * /move_base_flex/local_costmap/global_frame: odom
 * /move_base_flex/local_costmap/height: 5.0
 * /move_base_flex/local_costmap/publish_frequency: 5.0
 * /move_base_flex/local_costmap/resolution: 0.05
 * /move_base_flex/local_costmap/robot_base_frame: base_link
 * /move_base_flex/local_costmap/rolling_window: True
 * /move_base_flex/local_costmap/static_map: False
 * /move_base_flex/local_costmap/update_frequency: 10.0
 * /move_base_flex/local_costmap/width: 5.0
 * /move_base_flex/planners: [{'type': 'full_c...
 * /move_base_flex/tf_timeout: 1.5
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    grid_server (map_server/map_server)
    mobile_robot_simulator (mobile_robot_simulator/mobile_robot_simulator_node)
    move_base (mbf_costmap_nav/move_base_legacy_relay.py)
    move_base_flex (mbf_costmap_nav/mbf_costmap_nav)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [31150]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7fd69b74-1532-11ec-a2e1-683e26832183
process[rosout-1]: started with pid [31161]
started core service [/rosout]
process[move_base_flex-2]: started with pid [31168]
process[move_base-3]: started with pid [31169]
process[grid_server-4]: started with pid [31170]
process[mobile_robot_simulator-5]: started with pid [31176]
process[rviz-6]: started with pid [31184]
[ INFO] [1631606718.514820481]: Initialized mobile robot simulator
[ INFO] [1631606718.515173672]: --- Starting MobileRobot simulator
[ INFO] [1631606718.615366346]: Started mobile robot simulator update loop, listening on cmd_vel topic
[ WARN] [1631606718.817455280]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1631606718.819886797]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1631606718.822719159]:     Subscribed to Topics: 
[ INFO] [1631606718.826130201]: local_costmap: Using plugin "inflation_layer"
[ WARN] [1631606718.843952612]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1631606718.846914747]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1631606718.848340734]:     Subscribed to Topics: 
[ INFO] [1631606718.852268482]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1631606718.884641199]: The plugin with the type "full_coverage_path_planner/SpiralSTC" has been loaded successfully under the name "SpiralSTC".
[ WARN] [1631606718.884913666]: No controllers plugins configured! - Use the param "controllers", which must be a list of tuples with a name and a type.
[ WARN] [1631606718.885140817]: No recovery_behaviors plugins configured! - Use the param "recovery_behaviors", which must be a list of tuples with a name and a type.
[ WARN] [1631606724.687575918]: No plugin loaded with the given name "navfn/NavfnROS"!
[ERROR] [1631606724.687814551]: The last action goal to "get_path" has been REJECTED
[ WARN] [1631606730.663607135]: No plugin loaded with the given name "navfn/NavfnROS"!
[ERROR] [1631606730.663776138]: The last action goal to "get_path" has been REJECTED
[ WARN] [1631606732.279851432]: No plugin loaded with the given name "navfn/NavfnROS"!
[ERROR] [1631606732.280002554]: The last action goal to "get_path" has been REJECTED
@Timple
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Timple commented Nov 2, 2021

No plugin loaded with the given name "navfn/NavfnROS"!

Looks like you didn't install navfn? Or did not configure it as a plugin. How does your parameter file look?

@CTGUMARK
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CTGUMARK commented Nov 2, 2021

Thank you very much for replying to me, I have solved this problem, I would like to ask again, I put this plug-in in move Base alone, after getting the global path, I will track the path with PID. If I want to track the path and avoid obstacles in the track path, what should I do? Do you have any suggestions or your feature pack that can

achieve path tracking and obstacle avoidance? Thank you!

@Timple
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Timple commented Nov 3, 2021

You cannot avoid obstacles with the PID. It's sole function is to track the path exactly. Avoiding obstacles would deviate from that purpose.
In that case most other local planners will probably do!

@CTGUMARK
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CTGUMARK commented Nov 4, 2021

Is there any mathematical principle derivation and blog recommendation for full path coverage in your feature pack? I would like to learn the mathematical principle first and then look at the code, thank you!Is there any mathematical principle derivation and blog recommendation for full path coverage in your feature pack? I would like to learn the mathematical principle first and then look at the code, thank you!

@hhdd-pid
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Thank you very much for replying to me, I have solved this problem, I would like to ask again, I put this plug-in in move Base alone, after getting the global path, I will track the path with PID. If I want to track the path and avoid obstacles in the track path, what should I do? Do you have any suggestions or your feature pack that can

achieve path tracking and obstacle avoidance? Thank you!

Hello, I met the same problem as you, how did you solve it?  thank you

@betulkaragoz
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betulkaragoz commented Aug 1, 2022 •
edited by Timple
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I am also getting the similar error

> SUMMARY
========

PARAMETERS
 * /controller/Kd_lat: 0.3
 * /controller/Kd_long: 0.5
 * /controller/Ki_lat: 0.0
 * /controller/Ki_long: 0.0
 * /controller/Kp_lat: 4.0
 * /controller/Kp_long: 2.0
 * /controller/controller_debug_enabled: True
 * /controller/l: 0.5
 * /controller/track_base_link: True
 * /coverage_progress/coverage_radius: 0.3
 * /coverage_progress/map_frame: /coverage_map
 * /coverage_progress/target_area/x: 10
 * /coverage_progress/target_area/y: 10
 * /grid_server/frame_id: map
 * /interpolator/target_x_vel: 0.5
 * /interpolator/target_yaw_vel: 0.4
 * /mobile_robot_simulator/odometry_topic: /odom
 * /mobile_robot_simulator/publish_map_transform: True
 * /mobile_robot_simulator/publish_rate: 10.0
 * /mobile_robot_simulator/velocity_topic: /move_base/cmd_vel
 * /move_base/base_global_planner: SpiralSTC
 * /move_base_flex/SpiralSTC/robot_radius: 0.3
 * /move_base_flex/SpiralSTC/tool_radius: 0.3
 * /move_base_flex/global_costmap/robot_radius: 0.3
 * /move_base_flex/local_costmap/global_frame: odom
 * /move_base_flex/local_costmap/height: 5.0
 * /move_base_flex/local_costmap/publish_frequency: 5.0
 * /move_base_flex/local_costmap/resolution: 0.05
 * /move_base_flex/local_costmap/robot_base_frame: base_link
 * /move_base_flex/local_costmap/rolling_window: True
 * /move_base_flex/local_costmap/static_map: False
 * /move_base_flex/local_costmap/update_frequency: 10.0
 * /move_base_flex/local_costmap/width: 5.0
 * /move_base_flex/planners: [{'type': 'full_c...
 * /move_base_flex/tf_timeout: 1.5
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    controller (tracking_pid/controller)
    coverage_progress (full_coverage_path_planner/coverage_progress)
    grid_server (map_server/map_server)
    interpolator (tracking_pid/path_interpolator)
    map_to_coveragemap (tf/static_transform_publisher)
    mobile_robot_simulator (mobile_robot_simulator/mobile_robot_simulator_node)
    move_base (mbf_costmap_nav/move_base_legacy_relay.py)
    move_base_flex (mbf_costmap_nav/mbf_costmap_nav)
    publish_simple_goal (rostopic/rostopic)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [15681]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7a4fbeba-119e-11ed-8edd-c858c025e6d0
process[rosout-1]: started with pid [15703]
started core service [/rosout]
process[move_base_flex-2]: started with pid [15710]
process[move_base-3]: started with pid [15711]
process[mobile_robot_simulator-4]: started with pid [15712]
process[grid_server-5]: started with pid [15717]
process[interpolator-6]: started with pid [15724]
process[controller-7]: started with pid [15727]
process[map_to_coveragemap-8]: started with pid [15734]
process[coverage_progress-9]: started with pid [15736]
process[publish_simple_goal-10]: started with pid [15739]
process[rviz-11]: started with pid [15750]
[ INFO] [1659360788.553002393]: CONTROLLER PARAMETERS
[ INFO] [1659360788.553596440]: -----------------------------------------
[ INFO] [1659360788.553612603]: Controller enabled: 1
[ INFO] [1659360788.553620264]: Controller DEBUG enabled: 1
[ INFO] [1659360788.553632370]: Distance L: 0.500000
[ INFO] [1659360788.553640764]: Feedback (long, lat, ang): (1, 1, 1)
[ INFO] [1659360788.553649345]: Feedforward (long, lat, ang): (1, 1, 0)
[ INFO] [1659360788.553662447]: Longitudinal gains: (Kp: 2.000000, Ki, 0.000000, Kd, 0.500000)
[ INFO] [1659360788.553673810]: Lateral gains: (Kp: 4.000000, Ki, 0.000000, Kd, 0.300000)
[ INFO] [1659360788.553682997]: Angular gains: (Kp: 1.000000, Ki, 0.000000, Kd, 0.300000)
[ INFO] [1659360788.553691386]: Robot type (holonomic): (0)
[ INFO] [1659360788.553699701]: Track base link: (1)
[ INFO] [1659360788.553707756]: LPF cutoff frequency: 1/4 of sampling rate
[ INFO] [1659360788.553718839]: Integral-windup limit: 1000.000000
[ INFO] [1659360788.553727990]: Saturation limits xy: 10.000000/-10.000000
[ INFO] [1659360788.553736852]: Saturation limits ang: 10.000000/-10.000000
[ INFO] [1659360788.553745810]: map frame: 
[ INFO] [1659360788.553753665]: base_link frame: 
[ INFO] [1659360788.553761725]: -----------------------------------------
[ INFO] [1659360788.607664433]: Initialized mobile robot simulator
[ INFO] [1659360788.608945345]: --- Starting MobileRobot simulator
[ INFO] [1659360788.709176627]: Started mobile robot simulator update loop, listening on cmd_vel topic
[ WARN] [1659360788.911329727]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1659360788.914934950]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1659360788.921080871]:     Subscribed to Topics: 
[ INFO] [1659360788.928310284]: local_costmap: Using plugin "inflation_layer"
[ WARN] [1659360788.962279748]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1659360788.965696277]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1659360788.967469647]:     Subscribed to Topics: 
[ INFO] [1659360788.968902216]: Transform between map and base_link found
[ INFO] [1659360788.971587875]: global_costmap: Using plugin "inflation_layer"
[ERROR] [1659360789.011080322]: Failed to load the mapping: No parameter controllers
[ INFO] [1659360789.014115755]: The plugin with the type "full_coverage_path_planner/SpiralSTC" has been loaded successfully under the name "SpiralSTC".
[ WARN] [1659360789.014442883]: No controllers plugins configured! - Use the param "controllers", which must be a list of tuples with a name and a type.
[ WARN] [1659360789.014825923]: No recovery_behaviors plugins configured! - Use the param "recovery_behaviors", which must be a list of tuples with a name and a type.
[ INFO] [1659360789.051131579]: Odometry received on topic odom
[ INFO] [1659360790.094073178]: Initialized!
[ INFO] [1659360790.094168248]: Requesting grid!!
[ INFO] [1659360790.095654134]: nRows: 600 nCols: 600 nodeSize: 12
[ INFO] [1659360790.199630266]: naive cpp completed!
[ INFO] [1659360790.199681608]: Converting path to plan
[ INFO] [1659360790.199709763]: Received goalpoints with length: 858
[ INFO] [1659360790.200215487]: Plan ready containing 800 goals!
[ INFO] [1659360790.200232602]: Total visited: 802
[ INFO] [1659360790.200249078]: Total re-visited: 283
[ INFO] [1659360790.200264330]: Total accessible cells: 519
[ INFO] [1659360790.200282756]: Total accessible area: 186.840015
[ INFO] [1659360790.200298828]: Publishing plan!
[ INFO] [1659360790.200718708]: Plan published!
elapsed time: 0.110723
[ WARN] [1659360790.205153197]: No plugins loaded at all!
[ERROR] [1659360790.205392502]: The last action goal to "exe_path" has been REJECTED
^C[rviz-11] killing on exit
[publish_simple_goal-10] killing on exit
[coverage_progress-9] killing on exit
[map_to_coveragemap-8] killing on exit
[controller-7] killing on exit
[interpolator-6] killing on exit
[grid_server-5] killing on exit
[mobile_robot_simulator-4] killing on exit
[move_base-3] killing on exit
[move_base_flex-2] killing on exit
[ INFO] [1659360818.778078496]: Shutdown costmap navigation server.
[ INFO] [1659360818.778214899]: Cancel all goals for "get_path".
[ WARN] [1659360818.778264179]: Cancel planning failed or is not supported by the plugin. Wait until the current planning finished!
[ INFO] [1659360818.778381381]: Cancel all goals for "exe_path".
[ INFO] [1659360818.778419442]: Cancel all goals for "recovery".
[ INFO] [1659360818.778500762]: Stopping local and global costmap for shutdown
Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
         at line 122 in /tmp/binarydeb/ros-melodic-class-loader-0.4.1/src/class_loader.cpp
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

@Timple
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Timple commented Aug 4, 2022

[ WARN] [1659360790.205153197]: No plugins loaded at all!
[ERROR] [1659360790.205392502]: The last action goal to "exe_path" has been REJECTED

Seems like you did not configure a local planner? What does your yaml file look like?

@betulkaragoz
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i'm new at this and i don't know what file i should throw away so i will share them all
controllers.yaml:

controllers:

  • name: 'tracking_pid'
    type: 'tracking_pid/TrackingPidLocalPlanner'

controller:
holonomic_robot: false

mbf_tolerance_check: true
dist_tolerance: 0.2
angle_tolerance: 0.5

planners.yaml:

planners:

  • name: 'SpiralSTC'
    type: 'full_coverage_path_planner/SpiralSTC'
  • name: 'navfn/NavfnROS'
    type: 'navfn/NavfnROS'

local_costmap_params.yaml:

local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 10.0
publish_frequency: 5.0
width: 5.0
height: 5.0
resolution: 0.05
static_map: false
rolling_window: true

@betulkaragoz
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im working on turtlebot2 and fccp code is working on rviz. when i connect my computer and turtlebot2 i can add robotmodel and its moving on rviz but not in realtime.

@cesar-lopez-mar
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FCPP is a global planner plugin, but the TrackingPID is not!. For an example on how to use FCPP in combination with TrackingPID, please see:

https://github.com/nobleo/full_coverage_path_planner/blob/master/test/full_coverage_path_planner/test_full_coverage_path_planner.launch

@betulkaragoz
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i configured my launch file like this:
is this the right approach?

<!--Move base flex, using the full_coverage_path_planner-->
<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
    <param name="tf_timeout" value="1.5"/>
    <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
    <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
    <param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
    <param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
    <param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
    <remap from="odom" to="/odom"/>
    <remap from="scan" to="/scan"/>

    <remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>
    <remap from="/move_base_flex/tracking_pid/interpolator" to="/move_base/TrackingPidLocalPlanner/interpolator"/>
</node>

<!-- Move Base backwards compatibility -->
<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base" >
    <param name="base_global_planner" value="SpiralSTC" />
    <param name="base_local_planner" value="DWAPlannerROS" />
</node>

<!-- Mobile robot simulator -->
<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
    <param name="publish_map_transform" value="true"/>
    <param name="publish_rate" value="10.0"/>
    <param name="velocity_topic" value="/move_base/cmd_vel"/>
    <param name="odometry_topic" value="/odom"/>
</node>

<!--We need a map to fully cover-->
<node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
    <param name="frame_id" value="map"/>
</node>

<!--Tracking_pid cannot just accept a nav_msgs/Path, it can only go to a PoseStamped,
   so the path_interpolator drags a PoseStamped over a Path at a given speed-->
<node name="interpolator" pkg="tracking_pid" type="path_interpolator">
    <param name="target_x_vel" value="$(arg target_x_vel)"/>
    <param name="target_yaw_vel" value="$(arg target_yaw_vel)"/>
    <remap from="path" to="/move_base/SpiralSTC/plan"/>
</node>

<!--Tracking_pid tries to get the robot as close to it's goal point as possible-->
<node name="controller" pkg="tracking_pid" type="controller" output="screen">
    <remap from="move_base/cmd_vel" to="/move_base/cmd_vel"/>
    <remap from="local_trajectory" to="trajectory"/>
    <param name="controller_debug_enabled" value="True"/>
    <param name="track_base_link" value="true"/>
    <param name="l" value="0.5"/>
    <param name="Ki_long" value="0.0"/>
    <param name="Kp_long" value="2.0"/>
    <param name="Kd_long" value="0.5"/>
    <param name="Ki_lat" value="0.0"/>
    <param name="Kp_lat" value="4.0"/>
    <param name="Kd_lat" value="0.3"/>
</node>

<!-- Launch coverage progress tracking -->
<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="$(arg coverage_area_offset) map coverage_map 100" />
<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
    <param name="~target_area/x" value="$(arg coverage_area_size_x)" />
    <param name="~target_area/y" value="$(arg coverage_area_size_y)" />
    <param name="~coverage_radius" value="$(arg tool_radius)" />
    <remap from="reset" to="coverage_progress/reset" />
    <param name="~map_frame" value="/coverage_map"/>
</node>

<!-- Trigger planner by publishing a move_base goal -->
<node name="publish_simple_goal" pkg="rostopic" type="rostopic"  launch-prefix="bash -c 'sleep 1.0; $0 $@' "
    args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>

<!-- rviz -->
<node if="$(eval rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />

@nobleo nobleo deleted a comment from liylin6688 Oct 11, 2022
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5 participants
@Timple @cesar-lopez-mar @CTGUMARK @hhdd-pid @betulkaragoz