First Nav2 attempts & Transform Tolerance

Started SLAM from systemd folder script. Went to /opt/ros/humble/share/nav2_bringup/params and made sure costmaps were generated using scan_throttled. Then ran with ros2 launch nav2_bringup navigation_launch.py from here. Can also try ros2 launch nav2_bringup slam_launch.py.

ros2 launch nav2_bringup navigation_launch.py

Now struggling a bit with the RWM implementation. The create3 robot doesn’t have rmw_fastrtps_dynamic_cpp, and this seems to be why I cannot get/set parameters. Vizanti won’t work with just rmw_fastrtps_cpp, so now trying rmw_cyclonedds_cpp instead, but Vizanti still throws an error.

Had a typo in .bashrc, RWM instead of RMW was used, fixed now. We use cyclonedds.

Try navigating to goal again, try changing all instances in the params file of base_footprint to base_link.

A guide to ROS2 Navigation tuning.

First, check about synchronising the clock between robot base and Rpi, might be affecting transforms. <- Doesn’t seem to be that just by checking if ntp is working.

Transform Tolerance

Looking at the frames.pdf output, we see map -> odom is only published at 1.1Hz. This is likely the issue. Find who is publishing this. For now try increasing the value of transform_tolerance to check if Nav goal actually works. Got from this forum post. <- Increased transform tolerance, helped for sure, not a long term solution though.