move_base. This cmd worksnrostopic pub /move_base/cancel actionlib_msgs/GoalID -- {} but from python script the goal is not cancled. state = self. Could you give it a fast try? [AbstractPlannerExecution::cancel]: Cancel planning failed or is not supported by the plugin. You can rate examples to help us improve the quality of examples. network-manager: unrecognized service, shl413: Improvement Roadmap. loginfo ( "Timed out achieving goal") else: # We made it! First, set up a ROS action client. a5c19cb state = self. was: a wall, get_path will fail, executing the recovery behaviors, but robot will keep going to the original goal, robot stops and fail with a GetPathResult error. self.move_base.cancel_goal() only works if your self.move_base object has sent the goal itself on the first place. This seems to me like a bug, as we should handle this better. You may also want to check out all available functions/classes of the module move_base_msgs.msg , or try the search function . After this, it didn't respond to any command anymore; both the /move_base/move_base/result and /move_base/move_base/feedback didn't contain any messages anymore. Hello Teresa, loginfo ( "Timed out achieving goal") else: # We made it! Have a question about this project? move_base: [AbstractControllerExecution::cancel]: Cancel controlling failed or is not supported by the plugin. get_state() if state == GoalStatus. SUCCEEDED: rospy. I wrote some simple python script which is trying to cancel current goal. void wakePlanner Thank you for your help so far, please let me know if you need more The goal is passed to move_base, and I see through rviz that a path is generated, but the robot never starts moving. <, cancelling MoveBase Action sometimes doesn't cancel the ExePath. output I am seeing is move_base_ac.send_goal(goal) I got a solution, perhaps it is not the best one but it works. For reference, in the case where the cancelling works correctly, the move_base: [AbstractNavigationServer::cancelActionGetPath]: Cancel action "get_path" or dynamic (more than people walk). All Rights Reserved. move_base: [AbstractNavigationServer::cancelActionExePath]: Cancel action "exe_path" How to cancel a move_base goal using smach SimpleActionState? These are the top rated real world C++ (Cpp) examples of MoveBaseClient extracted from open source projects. We'll just tell the base to move 1 meter forward in the "base_link" coordinate frame. I for example didn't test any case where I cancelled the action during recovery. is this issue likely to disappear if I use GetPath and ExePath Actions instead (as it seems to be the intended usage according to the API)? void reconfigureCB (move_base::MoveBaseConfig &config, uint32_t level) void resetState Reset the state of the move_base action and send a zero velocity command to the base. Copyright IssueAntenna. robot just went to the goal anyway) 1 Answer Sorted by: 0 action_client.cancel_all_goals () just sends an instruction to cancel goals without waiting. move_base: [AbstractNavigationServer::callActionGetPath]: Start action "get_path" using planner "GlobalPlanner" of type "global_planner/GlobalPlanner" that is the same issue as I initially reported, because the output looks SUCCEEDED: rospy. cancel_goal () rospy. The log output was: To answer my own previous question, the move base action uses its own state machine implementation to call the getPath and exePath action, so these issues generally aren't to be expected when using these actions directly. dinesh ( 2021-09-25 13:41:11 -0600 ) edit add a comment Usually, when cancelling the MoveBase Action, the output looks like this: In some rare cases however, the output just says: I have also tried out calling those actions separately and didn't run into any of these problems. Well occasionally send you account related emails. I don't think it's worth doing a push force to revert it, so @dorezyuk , @spuetz , can u make a postmortem review, just in case I need to revert it? to your account. Thank you in advance move_base: [AbstractNavigationServer::callActionExePath]: Start action "exe_path" using controller "DWAPlannerROS" of type "dwa_local_planner/DWAPlannerROS" 1 Answer Sorted by: 0 You cannot rename topics in your node and use them from the command line. move_base_ac.cancel_goal() Then, send a goal message with modified parameters. move_base: [AbstractNavigationServer::callActionExePath]: Start action "exe_path" using controller "DWAPlannerROS" of type "dwa_local_planner/DWAPlannerROS" cancel_goal () rospy. , : What @Orhan suggested in his answer can actually be accomplished by: self.move_base.cancel_all_goals(). ros::Publisher cancle_pub_ = nh_.advertise
("move_base/cancel",1); m0_74359100: move_base: [ControllerAction::run]: Action "exe_path" canceled Now we try to add obstacles in the previous square path. So you think the fix is worth merging, regardless this other problem you have encountered? self. get_state () if state == GoalStatus. Then MoveBase can call setIsCancelledCallback () on every recovery behavior at initialization, and recovery behavior implementers can add calls to isCancelled () at their leisure (when they run into this problem, most likely). 2 rostopic echo /move_ base /result rvizgoal status3textGoal reachedmove_ base . etc. callback I used is Reply to this email directly, view it on GitHub move_base/cancel ( actionlib_msgs/GoalID) A request to cancel a specific goal. https://user-images.githubusercontent.com/322610/150661159-d0a427c8-3150-4def-8bbd-f9f3e5fa2828.mp4. loginfo("Goal succeeded!") @staticmethod def handle_feedback ( fb_data): print(str( fb_data)) def init_markers (self): # Set up our waypoint markers marker_scale = 0.2 The move_base ROS Node, is a major component of the navigation stack which allows to configure, run and interact with the latter. Hello back; yes, I can reproduce the issue. move_base. Here we create a goal to send to move_base using the move_base_msgs::MoveBaseGoal message type which is included automatically with the MoveBaseAction.h header. The fix seems to work, I saw both the CTRL DONE and PLAN DONE output in the log and the robot never kept going. MoveBaseAction cancel_goal does not work from python script, Creative Commons Attribution Share Alike 3.0. I can reproduce the issue if I change the sleep to 10 ms; the code in the pretty different (in the issue in this comment, it just seems exe_path is bash, Venus-ww: state = self. rospy.sleep(0.010) How similar is the MoveBase Action code path compared to separate GetPath and ExePath Actions? Finally, cancel your goal and all goals on the action server. I'll try to and the output when it failed (i.e. 2022, 12:25 am 2022-01-23T00:25:30Z In: magazino/move_base_flex move_base action: cancel previous goal if get_path fails upon receiving a new one. I primarily reported this issue because it would be wrong to claim that the fix fixed all problems that I encountered, so in my mind, reporting those issues is the correct thing to do. If you want to use command line, you have to define them as args before the node. This is another backwards-compatible way to change the API which does not involve a global variable. Publishes a velocity command of zero to the base. Move base sequence Overview This is a ROS package that uses a ROS Action server to manage sending multiple goals to the navigation stack (move base action server) on a robot in order to achieve them one after another. Thanks! (get_path) is not yet done when you cancel move_base action. actionlib, network-manager: unrecognized service, https://blog.csdn.net/weixin_44023934/article/details/122252740?spm=1001.2014.3001.5501 move_base recovery cancelGoal behavior recovery_behavior_enabled asked jorge 2217 37 69 77 https://github.com/corot updated ngrennan 1 1 1 Hi all, I'm using move_base action client to send goals to my robot and cancel if necessary. Wait until the current planning finished! Wait until the current planning finished! Please start posting anonymously - your entry will be published after you log in or create a new account. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Actually, if you can reproduce it, even only part of the time, I invite you to open another issue, so I can close this one with the actual fix. Where can I find a tutorial to guide how to develop local planner for navi stack, How to implement a gait in a quadruped robot, How to update navigation package from kinetic to melodic. loginfo("Timed out achieving goal") else: # We made it! Thank you for your help so far, please let me know if you need more information. Hi, it worked better with the fix for me, but I cannot judge whether this fix would introduce potentially unwanted side effects, so you'd have to take that call yourself. move_base_legacy_relay: [nav_goal_cb]: Calling MBF's move_base action with target pose 3.995125 6.590005 I.e. move_base action: cancel previous goal if get_path fails upon receiving a new one, while the robot goes there, send another goal to an invalid place, e.g. I have tried to reproduce the issue with this simple script, without success: Any idea how else can I try to reproduce it? The obstacle can be static (such as walls, tables, etc.) The problem is that nothing happens, goal is not cancelling. You are receiving this because you commented. I can reproduce the issue if I change the sleep to 10 ms; the code in the callback I used is. This cmd worksnrostopic pub /move_base/cancel actionlib_msgs/GoalID -- {} but from python script the goal is not cancled. # In order to use it we need to convert it to a Quaternion message structure moveBaseGoal.target_pose.pose.orientation = self.array_to_quaternion(quaternionArray) print(moveBaseGoal) return moveBaseGoal Example #3 Source Project: ROS-Programming-Building-Powerful-Robots Author: PacktPublishing File: GoalsSequencer.py License: MIT License 6 votes By clicking Sign up for GitHub, you agree to our terms of service and Current behavior: send a valid goal with RViz; while the robot goes there, send another goal to an invalid place, e.g. goal = mbf_msgs.MoveBaseGoal(target_pose=msg) /move_base/goal ( move_base_msgs/MoveBaseActionGoal) A goal for move_basic to pursue in the world via the actionlib interface. Specify the action name. I however spent quite some time now reproducing these issues using the Move Base Action interface, which I ultimately would not recommend to use anyway, since using the getPath and exePath actions directly is much more powerful. usb,, https://blog.csdn.net/w383117613/article/details/46606273, /dev/ttyUSB0 permission denied, (ros/qt) FATAL: ROS_MASTER_URI is not defined in the environment, ubuntu 16.04 absl (cartographer1-absl). For reference, in the case where the cancelling works correctly, the output I am seeing is. The only way to start moving is to start the move_base launch file, rosrun this node and then cancel the node (while move_base launch file keeps running). would increase the frequency of occurrence. I am not sure though whether More. /move_base/cancel ( actionlib_msgs/GoalID) A request to cancel a specific goal. For reference, in the case where the cancelling works correctly, the output I am seeing is move_base_legacy_relay: [nav_goal_cb]: Calling MBF's move_base action with target pose 0.818876 3.458276 move_base: [AbstractNavigationServer::callActionMoveBase]: Start action "move_base" move_base: [AbstractNavigationServer::callActionGetPath]: Start . Hi, sorry for the delayed response. The difference seems to be that in the first case, the planner action privacy statement. move_base: [AbstractPlannerExecution::cancel]: Cancel planning failed or is not supported by the plugin. move_base/cancel ( actionlib_msgs/GoalID) A request to cancel a specific goal. What coordinate frame does rviz set the 2D Nav Goal in? More. move_base: [AbstractNavigationServer::callActionMoveBase]: Start action "move_base" I am using smach with a SimpleActionState to send navigation goals to move_base with: And I would like to cancel this goal. ROS 1 . I have not managed to produce any other failures using that python script; I however encountered some other problem when not using the script: At some point, the robot kept moving a little bit, then stopped. Move Base Flex: a backwards-compatible replacement for move_base . The package handles everything regarding the goals: receiving, storing, sending, error handling. [INFO]: To cancel the goal: 'rostopic pub -1 /move_base/cancel actionlib_msgs/GoalID -- {}' [INFO]: Inital goal status: PENDING [INFO]: Final goal status: COMPLETE. loginfo ( "Goal succeeded!") def init_markers ( self ): # Set up our waypoint markers marker_scale = 0.2 marker_lifetime = 0 # 0 is forever marker_ns = 'waypoints' move_base_legacy_relay: [nav_goal_cb]: CANCEL!!! I have pushed the fix on master by mistake see_no_evil, sorry a5c19cb I don't think it's worth doing a push force to revert it, so @dorezyuk , @spuetz , can u make a postmortem review, just in case I need to revert it? usb,, 1.1:1 2.VIPC, navigationhow to cancel a navigation goal or how to stop current navigation?:rostopic pub /move_base/cancel actionlib_msg, pythonc++stdFloat32MultiArray, gmappingamclmove_, https://www.cnblogs.com/21207-iHome/p/8297099.html The text was updated successfully, but these errors were encountered: Hi, those rare cases are perfectly normal; it just happened that the cancel signal came while the planer was running (we call it at the time at 1 Hz or so). ROSmove_base move_baseros by example 1move_base4 . Just tried these lines in python terminal to be sure and it works. Tentative fix on new branch issue_163. You signed in with another tab or window. Source Project: rosbook Author: osrf File: patrol_fsm.py License: Apache License 2.0. I had added a print at line 340 of mbf_abstract_nav/src/abstract_controller_execution.cpp that showed that the cancel_ flag was false when this behavior happened. Hi, thanks for the extensive testing. rospy.loginfo("CANCEL!!!") Any update? def __init__(self, position, orientation): State.__init__(self, outcomes= ['success']) # Get an action client . It happens about once in 10 tries, but I guess reducing the sleep time ***> wrote: Action Published Topics move_base/feedback ( move_base_msgs/MoveBaseActionFeedback) Feedback contains the current position of the base in the world. I have pushed the fix on master by mistake , sorry :) https://blog.csdn.net/weixin_44023934/article/details/122252740?spm=1001.2014.3001.5501 Create a ROS action client connected to the ROS network using rosactionclient. Example #1. self. Creative Commons Attribution Share Alike 3.0. Action Published Topics move_base/feedback ( move_base_msgs/MoveBaseActionFeedback) Feedback contains the current position of the base in the world. def nav_goal_cb(msg): move_base. A powerful feature of the MOVE_BASE package is to automatically avoid obstacles during global planning without affecting the global path. SUCCEEDED: rospy. Wait until the current control cycle finished! But the behavior shouldn't change. get_state () if state == GoalStatus. move_base/goal ( move_base_msgs/MoveBaseActionGoal) A goal for move_base to pursue in the world. You can send the message in python like: from actionlib_msgs.msg import GoalID cancel_pub = rospy.Publisher("/move_base/cancel", GoalID, queue_size=1) cancel_msg = GoalID() cancel_pub.publish(cancel_msg) Just tried these lines in python terminal to be sure and it works. move_base: [AbstractNavigationServer::callActionGetPath]: Start action "get_path" using planner "GlobalPlanner" of type "global_planner/GlobalPlanner" move_base. Support using the current robot GPS location instead of an initial origin ; Pull requests are welcome! started after receiving the cancel request, so it is executed anyway). The move_base node implements a SimpleActionServer, an action server with a single goal policy, taking in goals of geometry_msgs/PoseStamped message type. Not a big issue, but current is not the expected behavior: https://user-images.githubusercontent.com/322610/150661158-5aa3569f-f0a6-4646-9e81-27ee6eee8708.mp4. link add a comment 5 answered Dec 25 '19 Martin Peris rospy.loginfo("Calling MBF's move_base action with target pose %f %f", msg.pose.position.x, msg.pose.position.y) 9 votes. information. move_base. Wait for the client to be connected to . Thanks! What coordinate frame does rviz set the 2D Nav Goal in? I added ugly log error messages when the change is working (I'll remove before PRequesting this, don't worry). I don't know about the python client but as far as I remember, sending an empty message to this topic like this cancels all goals: rostopic pub -1 /move_base/cancel actionlib_msgs/GoalID -- {}. Can anyone please tell me what is wrong and why nothing happens? /move_base_simple/goal ( geometry_msgs/PoseStamped) A goal for move_basic to pursue via the simple interface. I know that the way to do that is with cancel_goal function, but I do not how to call it using smach. I added a generic state to the smach state machine: The CancelGoal function implemented consits of publishing an empty goal in the /move_base/cancel topic: Its not working. On Mon, Nov 18, 2019 at 6:26 PM ChristofDubs ***@***. robot just went to the goal anyway) was: It happens about once in 10 tries, but I guess reducing the sleep time would increase the frequency of occurrence. C++ (Cpp) MoveBaseClient - 22 examples found. Connect to a ROS network with a specified IP address. move_base: [DWAPlannerROS::setPlan]: Got new plan cancel_goal() rospy. Thanks for reporting in such detail level! and the output when it failed (i.e. Run Ctrl-C from the previous run_move_base_blank_map . In your case, under arguments, define: <arg name="goal_topic" default="/move_base_simple/goal" doc="goal topic for turtlebot3"/> and in your remap, a wall; Which I don't think is the case. https://github.com/notifications/unsubscribe-auth/AACOYMWV63HC2FSXEDZUHH3QUJNTXANCNFSM4JHYAIDQ, Exit immediately from action done callbacks when action_state_ == CANCELED. As additional information, right before that 3 MoveBase Actions (frequency: 30Hz) were received and the output looked like: and after that, the robot just kept going for a long time in a non-proper fashion (velocity commands kept changing initially since the local planner still seemed to be executed, but at some point the velocity command froze to some non-zero value). did you get any solution? loginfo ( "Goal succeeded!") def init_markers ( self ): # Set up our waypoint markers marker_scale = 0.2 marker_lifetime = 0 # 0 is forever marker_ns = 'waypoints' move_base_legacy_relay: [nav_goal_cb]: CANCEL!!! QFileDialog::getOpenFileNames, : move_base_legacy_relay: [nav_goal_cb]: Calling MBF's move_base action with target pose 0.818876 3.458276 self. move_base/goal ( move_base_msgs/MoveBaseActionGoal) A goal for move_base to pursue in the world. move_base: [AbstractNavigationServer::callActionMoveBase]: Start action "move_base" 3 rostopic info /move_ba. For the question, MoveBase action is implemented by internally calling the other actions, GetPath, ExePath and Recovery. Since the documentation of the method is not very helpful you need to have a look to action_client.h or action_client.py to find out whats happening. move_basepause,resume and cancel - YouTube Skip navigation Sign in 0:00 / 1:57 move_basepause,resume and cancel 106 views May 28, 2019 2 Dislike Share Save shiteng shi 13. I have the same question, I want to cancel a goal when the robot "finds" something, debug it. Sign in move_base: [AbstractNavigationServer::cancelActionMoveBase]: Cancel action "move_base" Already on GitHub? I have not been able to reproduce the other issue again; I will open a new issue if I do. move_base. move_base: [AbstractNavigationServer::cancelActionMoveBase]: Cancel action "move_base" Can anyone identify where is the problem here? Please start posting anonymously - your entry will be published after you log in or create a new account. /scan ( sensor_msgs/LaserScan) Hello! I am not sure though whether that is the same issue as I initially reported, because the output looks pretty different (in the issue in this comment, it just seems exe_path is started after receiving the cancel request, so it is executed anyway). 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