NAV2_COSTMAP_ROLLING_001 ros2 config_error ai_generated true

[nav2_costmap_2d] Rolling window costmap origin offset mismatch: expected (x, y) but got (x', y')

ID: ros2/nav2-costmap-rolling-window-offset

Also available as: JSON · Markdown · 中文
88%Fix Rate
85%Confidence
1Evidence
2024-06-10First Seen

Version Compatibility

VersionStatusIntroducedDeprecatedNotes
Humble active — — —
Iron active — — —
Jazzy active — — —
Rolling active — — —

Root Cause

The rolling window costmap's origin is not updated correctly when the robot moves, often due to an incorrect 'rolling_window' parameter or a mismatch between the costmap frame and the robot's odometry frame.

generic

中文

滚动窗口代价地图的原点在机器人移动时未正确更新，通常是由于 'rolling_window' 参数设置错误或代价地图帧与机器人里程计帧不匹配。

Official Documentation

https://docs.nav2.org/configuration/packages/costmap-2d.html

Workarounds

  1. 90% success Ensure the 'global_frame' parameter in the costmap config matches the frame used by the robot's odometry (e.g., 'odom' or 'map'). Example: global_frame: odom; rolling_window: true; width: 10.0; height: 10.0; 
    Ensure the 'global_frame' parameter in the costmap config matches the frame used by the robot's odometry (e.g., 'odom' or 'map'). Example: global_frame: odom; rolling_window: true; width: 10.0; height: 10.0;
  2. 80% success Add a static transform publisher in the launch file to publish the transform from 'odom' to 'map' if they differ: <node pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 0 0 map odom"/> 
    Add a static transform publisher in the launch file to publish the transform from 'odom' to 'map' if they differ: <node pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 0 0 map odom"/>
  3. 75% success Update the costmap parameters to set 'always_send_full_costmap: true' in the nav2_params.yaml to force full costmap updates, reducing drift. 
    Update the costmap parameters to set 'always_send_full_costmap: true' in the nav2_params.yaml to force full costmap updates, reducing drift.

中文步骤

  1. Ensure the 'global_frame' parameter in the costmap config matches the frame used by the robot's odometry (e.g., 'odom' or 'map'). Example: global_frame: odom; rolling_window: true; width: 10.0; height: 10.0;
  2. Add a static transform publisher in the launch file to publish the transform from 'odom' to 'map' if they differ: <node pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 0 0 map odom"/>
  3. Update the costmap parameters to set 'always_send_full_costmap: true' in the nav2_params.yaml to force full costmap updates, reducing drift.

Dead Ends

Common approaches that don't work:

  1. Set the costmap size to a very large value (e.g., 100x100 meters) 80% fail

    Large costmaps consume excessive memory and slow down planning; the origin offset still drifts.

  2. Disable the rolling window and use a static costmap 70% fail

    This changes the navigation behavior (no map following), which may not be acceptable for dynamic environments.

  3. Manually set the costmap origin in the parameter file to a fixed value 95% fail

    The origin is dynamically updated by the robot's pose; a fixed value will cause the costmap to become misaligned.