Error: RRTstar: There are no valid initial states! #64
Comments
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@sniper006006 Have you tried increasing the solve time? |
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Is it to increase the time_budget in the source code here? Thank you.
[image: img_v3_02b2_1e806c37-35ee-48a4-bbc8-21051169263g.png]
[image: img_v3_02b2_e95b6790-e893-4c87-83fb-ac918c1497ag.png]
best
Jaeyoung Lim ***@***.***> 于2024年5月18日周六 07:13写道：
… @sniper006006 <https://github.com/sniper006006> Have you tried increasing
the solve time?
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@sniper006006 No, in the planner panel in Rviz, you can set the time allocated for the planner |
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Is it here? [TerrainPlanner] Current Loiter start: 0 0 0 Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Error: RRTstar: There are no valid initial states! |
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Is it here?
I increased this, and the same error still occurs
[image: 03]
<https://private-user-images.githubusercontent.com/168155221/332083472-d0a45d50-2dbe-4231-bdc7-9102077c1e13.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTYyMTMwMDQsIm5iZiI6MTcxNjIxMjcwNCwicGF0aCI6Ii8xNjgxNTUyMjEvMzMyMDgzNDcyLWQwYTQ1ZDUwLTJkYmUtNDIzMS1iZGM3LTkxMDIwNzdjMWUxMy5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIwJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyMFQxMzQ1MDRaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00MmQwMTUwYWU5Nzk1YjAxODY5MGFlNjcyYjJmZGI3ZTYwNTFlZmNjZTRhMjgwMDBhZmZmYTZkNjdkN2NlZGYzJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.ed0uny9MV6DGM-R5pRfxREPURzwpKjlkvGmx_hE0ZTY>
[TerrainPlanner] Current Loiter start: 0 0 0
[TerrainPlanner] Candidate goal: 0 0 -1
[PlanningPanel] Set Planning Budget: 10
[TerrainPlanner] Planning budget: 10
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-66.67 -8.16472e-15 0]
SO2State [1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 -39.1876 0]
SO2State [2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 -63.4069 0]
SO2State [2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 -63.4069 0]
SO2State [-2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 -39.1876 0]
SO2State [-2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [66.67 0 0]
SO2State [-1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 39.1876 0]
SO2State [-0.942478]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 63.4069 0]
SO2State [-0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 63.4069 0]
SO2State [0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 39.1876 0]
SO2State [0.942478]
]
Error: RRTstar: There are no valid initial states!
at line 193 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Info: No solution found after 0.003194 seconds
Solution Not found
Jaeyoung Lim ***@***.***> 于2024年5月20日周一 21:04写道：
… @sniper006006 <https://github.com/sniper006006> No, in the planner panel
in Rviz, you can set the time allocated for the planner
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@sniper006006 Okay, and are the start and goal states valid? |
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[TerrainPlanner] Current Loiter start: 0 0 0 |
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[TerrainPlanner] Current Loiter start: 0 0 0
[TerrainPlanner] Candidate goal: 0 0 -1
Can this log printout demonstrate whether the start and goal states are
valid?
thanks！
Jaeyoung Lim ***@***.***> 于2024年5月21日周二 06:15写道：
… @sniper006006 <https://github.com/sniper006006> Okay, and are the start
and goal states valid?
—
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@sniper006006 You need to set the start and goal state using the interactive marker (press Update start, Update goal) |
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Why are the Candidate start and Candidate goal coordinates the same here? There seems to be a problem.
Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Warning: RRTstar: Skipping invalid start state (invalid bounds) Error: RRTstar: There are no valid initial states! |
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Why are the Candidate start and Candidate goal coordinates the same here?
There seems to be a problem. Thank you！
[image: 20240521-094832]
<https://private-user-images.githubusercontent.com/168155221/332249882-7041f7f5-e8cc-49f6-b7a3-47b872990453.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTYyNjAwOTcsIm5iZiI6MTcxNjI1OTc5NywicGF0aCI6Ii8xNjgxNTUyMjEvMzMyMjQ5ODgyLTcwNDFmN2Y1LWU4Y2MtNDlmNi1iN2EzLTQ3Yjg3Mjk5MDQ1My5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIxJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyMVQwMjQ5NTdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lYmIxMDQzYzZhMmY3ZjBhMjJhNDNjMTQ1NDEyZTUyMmZlY2NiMzM3YWEyYmVmMDI0OGViOTQwNjViNmY3NjJkJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.k2c1ZZ0yttAoYdPfRFo0VaP8j_LNZTT-VZGuWGnxvfA>
[TerrainPlanner] Candidate start: 0 0 -1
[TerrainPlanner] Current Loiter start: 0 0 0
[TerrainPlanner] Candidate goal: 0 0 -1
[PlanningPanel] Set Planning Budget: 4
[TerrainPlanner] Planning budget: 4
Warning: RRTstar requires a state space with symmetric distance and
symmetric interpolation.
at line 101 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-66.67 -8.16472e-15 0]
SO2State [1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 -39.1876 0]
SO2State [2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 -63.4069 0]
SO2State [2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 -63.4069 0]
SO2State [-2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 -39.1876 0]
SO2State [-2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [66.67 0 0]
SO2State [-1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 39.1876 0]
SO2State [-0.942478]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 63.4069 0]
SO2State [-0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 63.4069 0]
SO2State [0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 39.1876 0]
SO2State [0.942478]
]
Error: RRTstar: There are no valid initial states!
at line 193 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Info: No solution found after 0.001156 seconds
Solution Not found
[ERROR] [1716255892.442294705, 1222.932000000]: TM : Time jump detected.
Resetting time synchroniser.
Jaeyoung Lim ***@***.***> 于2024年5月21日周二 08:57写道：
… @sniper006006 <https://github.com/sniper006006> You need to set the start
and goal state using the interactive marker (press Update start, Update
goal)
—
Reply to this email directly, view it on GitHub
<#64 (comment)>,
or unsubscribe
<https://github.com/notifications/unsubscribe-auth/BIC5QVKPPLVBVB266KRQWLTZDKLYVAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRRGUYDEMBWG4>
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You are receiving this because you were mentioned.Message ID:
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[image: img_v3_02b4_e5b5682d-0e34-4e21-a5ff-546a9a47f9fg.jpg]
Excuse me, I would like to ask the reason why after clicking "engage
planner" here, the aircraft in QGC does not follow the planned route. Thank
you.
best,
解阳瑞 ***@***.***> 于2024年5月21日周二 10:51写道：
… Why are the Candidate start and Candidate goal coordinates the same here?
There seems to be a problem. Thank you！
[image: 20240521-094832]
<https://private-user-images.githubusercontent.com/168155221/332249882-7041f7f5-e8cc-49f6-b7a3-47b872990453.jpg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTYyNjAwOTcsIm5iZiI6MTcxNjI1OTc5NywicGF0aCI6Ii8xNjgxNTUyMjEvMzMyMjQ5ODgyLTcwNDFmN2Y1LWU4Y2MtNDlmNi1iN2EzLTQ3Yjg3Mjk5MDQ1My5qcGc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwNTIxJTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDUyMVQwMjQ5NTdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1lYmIxMDQzYzZhMmY3ZjBhMjJhNDNjMTQ1NDEyZTUyMmZlY2NiMzM3YWEyYmVmMDI0OGViOTQwNjViNmY3NjJkJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.k2c1ZZ0yttAoYdPfRFo0VaP8j_LNZTT-VZGuWGnxvfA>
[TerrainPlanner] Candidate start: 0 0 -1
[TerrainPlanner] Current Loiter start: 0 0 0
[TerrainPlanner] Candidate goal: 0 0 -1
[PlanningPanel] Set Planning Budget: 4
[TerrainPlanner] Planning budget: 4
Warning: RRTstar requires a state space with symmetric distance and
symmetric interpolation.
at line 101 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-66.67 -8.16472e-15 0]
SO2State [1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 -39.1876 0]
SO2State [2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 -63.4069 0]
SO2State [2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 -63.4069 0]
SO2State [-2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 -39.1876 0]
SO2State [-2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [66.67 0 0]
SO2State [-1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 39.1876 0]
SO2State [-0.942478]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 63.4069 0]
SO2State [-0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 63.4069 0]
SO2State [0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 39.1876 0]
SO2State [0.942478]
]
Error: RRTstar: There are no valid initial states!
at line 193 in
/tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Info: No solution found after 0.001156 seconds
Solution Not found
[ERROR] [1716255892.442294705, 1222.932000000]: TM : Time jump detected.
Resetting time synchroniser.
Jaeyoung Lim ***@***.***> 于2024年5月21日周二 08:57写道：
> @sniper006006 <https://github.com/sniper006006> You need to set the
> start and goal state using the interactive marker (press Update start,
> Update goal)
>
> —
> Reply to this email directly, view it on GitHub
> <#64 (comment)>,
> or unsubscribe
> <https://github.com/notifications/unsubscribe-auth/BIC5QVKPPLVBVB266KRQWLTZDKLYVAVCNFSM6AAAAABH3T2FMWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRRGUYDEMBWG4>
> .
> You are receiving this because you were mentioned.Message ID:
> ***@***.***>
>
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Excuse me, I would like to ask the reason why after clicking "engage planner" here, the aircraft in QGC does not follow the planned route. Thank you. |
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@sniper006006 Did you solve the problem with the initial states being invalid? Your start state does not match the initial loiter in QGC. You can set the start as your first loiter circle by pressing "Loiter Start" |
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When I click ‘update start’ and ‘update goal’, there is no ‘invalid init state’, and the path planning is successful. However, clicking ‘loiter start’ does not generate a green circle, and after clicking ‘update goal’, the planning fails with the error ‘invalid init state’. I would like to inquire why there is no green circle when clicking ‘loiter start’. Thank you.
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@sniper006006 Update loiter button is used to set the current loiter circle of the vehicle as the start state. Therefore you need a valid loiter circle that the vehicle is flying in sitl in order to use it |
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Why, when the aircraft has already entered a loitering state in RVIZ or QGroundControl (QGC), clicking "loiter start" does not generate a planned path. Is it necessary to modify the source code where Eigen::Vector3d mission_loiter_center_{Eigen::Vector3d::Zero()}; is defined, such that the center should match the loitering center coordinates displayed in RVIZ? Thank you!
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I want to obtain the planned results for both the loiter start and goal positions. How should I set up my target coordinates and loiter coordinates? what I would do after executing the roslaunch terrain_navigation_ros test_terrain_planner.launch,THANK YOU! |
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Hello，How do I set up the waypoints in QGC to enter this code? mavros_msgs::CommandCode::NAV_LOITER_UNLIM
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I have solved the problem with the initial states being invalid.My start state match the initial in QGC when press "loiter start". Pressing ‘loiter start’ and ‘update goal’ can plan a path, but pressing ‘engage planner’ causes the vehicle to fly in an S-shaped trajectory along the planned path. What is the reason for this problem? Thank you very mnch. |
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@sniper006006 Which version of PX4 are you using? You need to run the NPFG controller for the guidance. Make sure |
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Thank you!
I have been using the PX4 as shown in the image. I would like to inquire if I also need an NPFG controller to achieve the effect in your video, where I plan a flight path and then click "engage planner" to fly according to the planned path.
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@sniper006006 You are flying a VTOL vehicle, therefore you need to transition to fixed-wing first. (You can see you are in MR mode in QGC). |
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Why is the vehicle unable to fly in a circular path after I switch it to Fixed-wing mode? Thank you |
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@sniper006006 Yes, but this means that there is something wrong on the px4 side(not related to the planner), since the vtol is not able to fly as a fixed-wing. Have you tried running other VTOL types? or maybe pure fixed-wing? |
I am also facing the same error: I tried increasing solve time from dashboard, I also tried sequence mentioned in screenshots (1. loiter start 2. update goal 3. Plan 4. Navigate 5. Engage Planner) BUT nothing works and facing the same error as (Solution not found) @Jaeyoung-Lim @sniper006006 |
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@rohitdhote111 Are you sure that the start and goal position is defined as a valid position? |
Can you please explain how to define a valid start and goal position? I am directly clicking option of 1. Loiter start and 2. update goal and getting below values |
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@rohitdhote111 As explained above, you need to move the interactive marker and specify the start and goal by pressing "Update start" and "Update goal" |
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@rohitdhote111 I have added a more simple example in the readme, which doesn't require the operational complexity of operating a simulated VTOL. Can you try that out? |
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@Jaeyoung-Lim My issue is resolved. Thanks for your support. |
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@rohitdhote111 Could you elaborate on what you mean by python code? Would you want another implementation that is functionally equivalent in python? Why would this be useful? |
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@Jaeyoung-Lim My next step is considering radio signal range from base station for optimizing path planning. Means region which don't have access to radio signal cannot be considered for path planning and need to eliminate that region from "valid" region. I was asking whether python branch is available as I am not much familiar with C++ and planning to do the next steps in python. But no worries I am trying to understand the C++ codes and will continue with this repo. If possible, please provide guidance on path planning considering radio map. |
Hello, when I run roslaunch terrain_navigation_ros test_terrain_planner.launch, the following error occurred. I would like to ask about the reason for this issue.Thank you very much.
INFO [commander] Armed by external command
INFO [tone_alarm] arming warning
INFO [navigator] Executing Mission
INFO [navigator] Takeoff to 60.0 meters above home
[ INFO] [1715931050.319347357, 17.008000000]: GF: mission received
[ INFO] [1715931050.319455910, 17.008000000]: RP: mission received
[ INFO] [1715931050.319669263, 17.008000000]: WP: item #0* F:6 C: 84 p: 0 0 0 nan x: 468150028 y: 98472149 z: 60
[ INFO] [1715931050.319790467, 17.008000000]: WP: mission received
INFO [commander] Takeoff detected
[TerrainPlanner] - Successfully loaded map: /home/xyr/shared_dir/terrain-navigation0514/terrain-navigation-main/src/terrain-navigation/terrain_navigation_ros/../resources/davosdorf.tif
[TerrainOmplRrt] Upper bounds: 2795 2475 2963.08
[TerrainOmplRrt] Lower bounds: -2795 -2475 1585.99
Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation.
at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
[ INFO] [1715931081.372966790, 48.040000000]: WP: reached #0
[ INFO] [1715931081.413467934, 48.080000000]: WP: reached #0
[ INFO] [1715931081.513892406, 48.180000000]: WP: reached #0
[ INFO] [1715931081.613735453, 48.280000000]: WP: reached #0
[ INFO] [1715931081.713372006, 48.380000000]: WP: reached #0
[ INFO] [1715931081.813405059, 48.480000000]: WP: reached #0
[ INFO] [1715931081.913596673, 48.580000000]: WP: reached #0
[ INFO] [1715931082.013496794, 48.680000000]: WP: reached #0
[ INFO] [1715931082.113588892, 48.780000000]: WP: reached #0
[ INFO] [1715931082.214034258, 48.880000000]: WP: reached #0
[ INFO] [1715931082.314487366, 48.980000000]: WP: reached #0
[ERROR] [1715931084.752645503, 51.416000000]: TM : Time jump detected. Resetting time synchroniser.
INFO [navigator] Mission finished, loitering
[ERROR] [1715931135.353320173, 101.972000000]: TM : Time jump detected. Resetting time synchroniser.
[ERROR] [1715931185.952667442, 152.524000000]: TM : Time jump detected. Resetting time synchroniser.
[TerrainPlanner] Current Loiter start: 0 0 0
[TerrainPlanner] Candidate goal: 0 0 -1
[PlanningPanel] Set Planning Budget: 4
[TerrainPlanner] Planning budget: 4
Warning: RRTstar requires a state space with symmetric distance and symmetric interpolation.
at line 101 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-66.67 -8.16472e-15 0]
SO2State [1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 -39.1876 0]
SO2State [2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 -63.4069 0]
SO2State [2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 -63.4069 0]
SO2State [-2.82743]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 -39.1876 0]
SO2State [-2.19911]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [66.67 0 0]
SO2State [-1.5708]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [53.9372 39.1876 0]
SO2State [-0.942478]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [20.6022 63.4069 0]
SO2State [-0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-20.6022 63.4069 0]
SO2State [0.314159]
]
Warning: RRTstar: Skipping invalid start state (invalid bounds)
at line 248 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/base/src/Planner.cpp
Debug: RRTstar: Discarded start state Compound state [
RealVectorState [-53.9372 39.1876 0]
SO2State [0.942478]
]
Error: RRTstar: There are no valid initial states!
at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Info: No solution found after 0.001614 seconds
Solution Not found
Error: RRTstar: There are no valid initial states!
at line 193 in /tmp/binarydeb/ros-noetic-ompl-1.6.0/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
Info: No solution found after 0.002011 seconds
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