Re: Navigation with Rtabmap and Stereo Camera

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10705.html

Thank You For your response.

I apologize for the confusion earlier. The error was occurring due to an incorrect remapping of the topic in the /planner. After I corrected the remapping, the error was resolved. However, I am now encountering a new issue: when I send a goal from RViz, the robot receives the cmd_vel command but moves very slowly.


Additionally, I am seeing the following warnings in the move_base terminal:

[ INFO] [1732606086.849031416]: global_costmap: Using plugin "static_layer"
[ INFO] [1732606086.865037291]: Requesting the map...
[ INFO] [1732606087.180699676]: Resizing costmap to 421 X 421 at 0.050000 m/pix
[ INFO] [1732606087.280328884]: Received a 421 X 421 map at 0.050000 m/pix
[ INFO] [1732606087.291234878]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1732606087.300996839]:     Subscribed to Topics: 
[ INFO] [1732606087.314020466]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1732606087.416201429]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1732606087.429635252]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1732606087.435582336]:     Subscribed to Topics: point_cloud_sensor
[ INFO] [1732606087.469182128]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1732606087.544075587]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1732606087.550245564]: Sim period is set to 0.10
[ WARN] [1732606088.528829741]: The openni_points observation buffer has not been updated for 1.08 seconds, and it should be updated every 0.50 seconds.
[ INFO] [1732606088.547545547]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1732606088.561968470]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1732606088.721122898]: odom received!
[ INFO] [1732606118.409030525]: Got new plan
[ WARN] [1732606119.245870677]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.1370 seconds
[ WARN] [1732606119.775476997]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.1667 seconds
[ WARN] [1732606119.829817448]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.1210 seconds
[ WARN] [1732606120.228652360]: DWA planner failed to produce path.
[ WARN] [1732606120.236451311]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.1276 seconds
[ INFO] [1732606120.236639892]: Got new plan
[ WARN] [1732606120.334149797]: DWA planner failed to produce path.
[ INFO] [1732606120.409177037]: Got new plan
[ WARN] [1732606120.452401446]: DWA planner failed to produce path.
[ INFO] [1732606120.509990015]: Got new plan
[ WARN] [1732606120.552900047]: DWA planner failed to produce path.
[ INFO] [1732606120.608923694]: Got new plan
[ WARN] [1732606120.710232212]: Control loop missed its desired rate of 10.0000Hz... the loop actually took 0.1013 seconds

and sometimes i am slo getting the warning:

Clearing both costmap outside the square (3.0m) large centred on the robot.
Rotate recovery behaviour started

.

Could you please advise on what might be causing this slow response and how to address it?

Thank you for your help!