move_base_flex: move_base_legacy_relay.py throws error on Jetson Nano (ROS Melodic)

Related to issue #222, but I thought it’s better to open a separate issue for this. I tried @Rayman’s turtlebot_mbf implementation (https://github.com/Rayman/turtlebot3_mbf) on Kinetic and it worked fine. But on Melodic it throws this error:

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/mbf_costmap_nav/move_base_legacy_relay.py", line 129, in <module>
    mb_drs = Server(MoveBaseConfig, mb_reconf_cb)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/server.py", line 81, in __init__
    self._change_config(self.config, ~0)  # Consistent with the C++ API, the callback gets called with level=~0 (i.e. -1)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/server.py", line 104, in _change_config
    self.config = self.callback(config, level)
  File "/opt/ros/melodic/lib/mbf_costmap_nav/move_base_legacy_relay.py", line 101, in mb_reconf_cb
    mbf_drc.update_configuration(mbf_config)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/client.py", line 185, in update_configuration
    raise DynamicReconfigureParameterException('don\'t know parameter: %s' % name)
dynamic_reconfigure.DynamicReconfigureParameterException: don't know parameter: make_plan_add_unreachable_goal

Due to this, I’m unable to run move_base_flex on Melodic. Has someone else faced the same issue on Melodic? Or is it Jetson Nano specific?

About this issue

Original URL
State: closed
Created 4 years ago
Comments: 15

Most upvoted comments

The code on master should also contain the fix. I think this was the branch @corot meant with melodic-devel. We’ll release a new version soon.

spuetz on Oct 14, 2020

I see; REJECTED makes sense in that case, as MBF cannot execute the goal as it is, and so rejects it. There’s no planner plugin named “global_planner/GlobalPlanner”. Here you use the name you give to the plugins on planners list, e.g. @Rayman’s TB3 config.

I’ll provide better result for that cases (#227)

corot on Oct 26, 2020

Yes, also happens in melodic. It’s due to a couple of new parameters added to the move_base dynamic configuration. Was fixed on Aug 4th (58a5c6b968442bed2230e42c70955a9267753ea6), but not yet released. We will do soon, but meanwhile, you can use source code from noetic-devel or melodic-devel. Or even path your melodic installation by replacing the script at /opt/ros/melodic/lib/mbf_costmap_nav/ and deleting the .pyc version.

corot on Oct 14, 2020

I think implementing mbf the way it is done in ceres navigation by @spuetz is the way to go, at least in Jetson Nano

jash101 on Oct 31, 2020

@corot yes, I’m sending goals via Rviz. I’m using ROS Melodic and have built from source

jash101 on Oct 15, 2020

How you send goals? Rviz 2D nav goal?

corot on Oct 15, 2020

Hello @corot I tried melodic, noetic and noetic-devel. Only noetic-devel seems to have the issue fixed, the other two branches give the same error. (I couldn’t find melodic-devel). But when I ran @Rayman’s launch file from https://github.com/Rayman/turtlebot3_mbf (which works fine in Kinetic), I get following error: [FATAL] [1602699058.992457608, 199.320000000]: The states RECALLED and REJECTED are not implemented in the SimpleActionServer! Any idea how to solve it?

jash101 on Oct 14, 2020