ros2 config_error ai_generated true

[nav2_costmap_2d] Rolling window size does not match costmap size. width: 10, height: 10, rolling_window_width: 20, rolling_window_height: 20

ID: ros2/nav2-costmap-rolling-window-size-mismatch

Also available as: JSON · Markdown · 中文
90%Fix Rate
85%Confidence
1Evidence
2024-01-20First Seen

Version Compatibility

VersionStatusIntroducedDeprecatedNotes
ROS2 Humble active — — —
Nav2 1.1.x active — — —
Nav2 1.2.x active — — —

Root Cause

The rolling_window parameter in the Nav2 costmap configuration specifies a window size larger than the costmap's width/height, causing the costmap to fail to initialize or update correctly.

generic

中文

Nav2 代价地图配置中的 rolling_window 参数指定的窗口大小大于代价地图的宽度/高度，导致代价地图无法正确初始化或更新。

Official Documentation

https://docs.nav2.org/configuration/packages/costmap-plugins/rolling.html

Workarounds

  1. 95% success Set rolling_window_width and rolling_window_height to match costmap width and height in your YAML config file, e.g., width: 10, height: 10, rolling_window_width: 10, rolling_window_height: 10 
    Set rolling_window_width and rolling_window_height to match costmap width and height in your YAML config file, e.g., width: 10, height: 10, rolling_window_width: 10, rolling_window_height: 10
  2. 80% success Disable rolling window by removing rolling_window parameters from the YAML config 
    Disable rolling window by removing rolling_window parameters from the YAML config

中文步骤

  1. 将 rolling_window_width 和 rolling_window_height 设置为与 YAML 配置文件中的代价地图宽度和高度匹配，例如 width: 10, height: 10, rolling_window_width: 10, rolling_window_height: 10
  2. 通过从 YAML 配置中删除 rolling_window 参数来禁用滚动窗口

Dead Ends

Common approaches that don't work:

  1. 70% fail

    The rolling_window must be equal to or smaller than the costmap dimensions; arbitrary changes may cause other issues like memory blowup.

  2. 85% fail

    Setting rolling_window to zero may disable the rolling window feature but can cause unexpected behavior or crashes in Nav2.

  3. 90% fail

    The costmap may not update obstacles correctly, leading to navigation failures or phantom obstacles.