I'm trying to run a Nav2 stack on a Raspberry Pi 4B with 8GB RAM. However, I'm finding it impossible due to the CPU getting overloaded. htop shows various Nav2 nodes (especially the planner_server, bt_navigator and eventually the lifecycle_manager once the system inevitably crashes) each taking up more than 30% of the CPU, and all 4 cores at 90-100%. Why is this happening?
This is my Nav2 params file (though I don't think this is the final culprit because the controller_manager is also taking about 30%):
amcl:
ros__parameters:
use_sim_time: False
alpha1: 1.0
alpha2: 0.2
alpha3: 0.3
alpha4: 1.0
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.8
beam_skip_threshold: 0.3
do_beamskip: true
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: -1.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 1500
min_particles: 300
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.1
recovery_alpha_slow: 0.001
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.1
update_min_d: 0.05
z_hit: 0.7
z_max: 0.05
z_rand: 0.2
z_short: 0.05
set_initial_pose: true
initial_pose:
x: 0.616
y: -2.717
z: 0.0 # Typically 0.0 for a 2D plane
yaw: 0.0 # Replace with your desired initial orientation in radians
scan_topic: scan
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 10
wait_for_service_timeout: 3000
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
default_nav_to_pose_bt_xml: /home/flamethrower/robot_ws/src/robot/navigate_to_pose_w_replanning_and_recovery.xml
default_nav_through_poses_bt_xml: /home/flamethrower/robot_ws/src/robot/navigate_through_poses_w_replanning_and_recovery.xml
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_bt_node
- nav2_clear_costmap_service_bt_node
- nav2_is_stuck_condition_bt_node
- nav2_goal_reached_condition_bt_node
- nav2_goal_updated_condition_bt_node
- nav2_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_condition_bt_node
- nav2_initial_pose_received_condition_bt_node
- nav2_reinitialize_global_localization_service_bt_node
- nav2_rate_controller_bt_node
- nav2_distance_controller_bt_node
- nav2_speed_controller_bt_node
- nav2_truncate_path_action_bt_node
- nav2_truncate_path_local_action_bt_node
- nav2_goal_updater_node_bt_node
- nav2_recovery_node_bt_node
- nav2_pipeline_sequence_bt_node
- nav2_round_robin_node_bt_node
- nav2_transform_available_condition_bt_node
- nav2_time_expired_condition_bt_node
- nav2_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_bt_node
- nav2_is_battery_low_condition_bt_node
- nav2_navigate_through_poses_action_bt_node
- nav2_navigate_to_pose_action_bt_node
- nav2_remove_passed_goals_action_bt_node
- nav2_planner_selector_bt_node
- nav2_controller_selector_bt_node
- nav2_goal_checker_selector_bt_node
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
- nav2_is_battery_charging_condition_bt_node
bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: False
bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.1
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.3
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]
# Progress checker parameters
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
# plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25
# yaw_goal_tolerance: 0.25
# stateful: True
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.2
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.1
min_vel_y: 0.0
max_vel_x: 0.2
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.1
max_speed_xy: 0.26
min_speed_theta: 0.3
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.5
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.1
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 0.2
global_frame: odom
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.2
plugins: ["obstacle_layer", "inflation_layer"]
filters: ["keepout_filter"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.2
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
keepout_filter:
plugin: "nav2_costmap_2d::KeepoutFilter"
enabled: True
filter_info_topic: "/costmap_filter_info"
always_send_full_costmap: True
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 0.2
global_frame: map
robot_base_frame: base_link
use_sim_time: False
robot_radius: 0.2
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
filters: ["keepout_filter"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.2
keepout_filter:
plugin: "nav2_costmap_2d::KeepoutFilter"
enabled: True
filter_info_topic: "/costmap_filter_info"
always_send_full_costmap: True
costmap_filter_info_server:
ros__parameters:
use_sim_time: false
type: 0
filter_info_topic: "/costmap_filter_info"
mask_topic: "/keepout_filter_mask"
base: 0.0
multiplier: 1.0
filter_mask_server:
ros__parameters:
use_sim_time: false
frame_id: "map"
topic_name: "/keepout_filter_mask"
yaml_filename: "/home/flamethrower/robot_ws/src/robot/worlds/map_keepout.yaml"
map_server:
ros__parameters:
use_sim_time: False
# Overridden in launch by the "map" launch configuration or provided default value.
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
yaml_filename: ""
map_saver:
ros__parameters:
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.2
use_astar: false
allow_unknown: true
smoother_server:
ros__parameters:
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 100
do_refinement: True
#smoother_server:
# ros__parameters:
# use_sim_time: False
# smoother_plugins: ["SmoothPath"]
# SmoothPath:
# plugin: "nav2_constrained_smoother/ConstrainedSmoother"
# minimum_turning_radius: 0.0
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
speed: 0.1
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: false
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.3
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: False
waypoint_follower:
ros__parameters:
use_sim_time: False
loop_rate: 20
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
velocity_smoother:
ros__parameters:
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
You can see more details here: https://github.com/ros-navigation/navigation2/issues/4826
