{
  "id": "ros2/nav2-costmap-rolling-window-size-mismatch",
  "signature": "[nav2_costmap_2d] Rolling window size does not match costmap size. width: 10, height: 10, rolling_window_width: 20, rolling_window_height: 20",
  "signature_zh": "[nav2_costmap_2d] 滚动窗口大小与代价地图大小不匹配。宽度：10，高度：10，滚动窗口宽度：20，滚动窗口高度：20",
  "regex": "\\[nav2_costmap_2d\\] Rolling window size does not match costmap size\\. width: \\d+, height: \\d+, rolling_window_width: \\d+, rolling_window_height: \\d+",
  "domain": "ros2",
  "category": "config_error",
  "subcategory": null,
  "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.",
  "root_cause_type": "generic",
  "root_cause_zh": "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。",
  "versions": [
    {
      "version": "ROS2 Humble",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Nav2 1.1.x",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Nav2 1.2.x",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "",
      "why_fails": "The rolling_window must be equal to or smaller than the costmap dimensions; arbitrary changes may cause other issues like memory blowup.",
      "fail_rate": 0.7,
      "condition": "",
      "sources": []
    },
    {
      "action": "",
      "why_fails": "Setting rolling_window to zero may disable the rolling window feature but can cause unexpected behavior or crashes in Nav2.",
      "fail_rate": 0.85,
      "condition": "",
      "sources": []
    },
    {
      "action": "",
      "why_fails": "The costmap may not update obstacles correctly, leading to navigation failures or phantom obstacles.",
      "fail_rate": 0.9,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "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",
      "success_rate": 0.95,
      "how": "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",
      "condition": "",
      "sources": []
    },
    {
      "action": "Disable rolling window by removing rolling_window parameters from the YAML config",
      "success_rate": 0.8,
      "how": "Disable rolling window by removing rolling_window parameters from the YAML config",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "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",
    "通过从 YAML 配置中删除 rolling_window 参数来禁用滚动窗口"
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.nav2.org/configuration/packages/costmap-plugins/rolling.html",
  "official_doc_section": null,
  "error_code": null,
  "verification_tier": "ai_generated",
  "confidence": 0.85,
  "fix_success_rate": 0.9,
  "resolvable": "true",
  "first_seen": "2024-01-20",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}