ros2 config_error ai_generated true

[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

[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

其他格式: JSON · Markdown 中文 · English
90%修复率
85%置信度
1证据数
2024-01-20首次发现

版本兼容性

版本状态引入弃用备注
ROS2 Humble active — — —
Nav2 1.1.x active — — —
Nav2 1.2.x active — — —

根因分析

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。

English

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

官方文档

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

解决方案

  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

无效尝试

常见但无效的做法:

  1. 70% 失败

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

  2. 85% 失败

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

  3. 90% 失败

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