r/ROS • u/Uzn4v1 • 19h ago

Question Help with RViz Simulation with Nav2

This is a video of our simulation in RViz, using Gazebo for the map. We are running ROS 2 Humble. We are using SLAM Toolbox for simultaneous localization and mapping (SLAM) in 2D, and NAV2 for autonomous navigation. Our robot utilizes GNSS coordinates; it currently runs well and completes the entire path—the pauses seen in the video are simply due to the simulation being recorded. Our current issue is that when we set a 2D goal pose in an unknown area, the robot does not move to the desired location, and the map fails to expand. We want the map to expand so that the robot can navigate into unknown areas. We have already tried settings such as `track_unknown_space: true` and `rolling_window: false`, among others, but these did not resolve the problem. Could you suggest what else we might try or configure to ensure the map expands and the robot can accept 2D goal poses in unknown spaces?

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u/T23CHIN6 18h ago

Can u explain more on the map is not expand? You mean it cannot move outside the grey area ?

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u/Uzn4v1 11h ago

Yes, the gray area

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u/The_Verbit 18h ago

ensure your tf tree isn't broken, and try with a known map to locate any missing nodes.

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u/polarbearhmmm 11h ago edited 11h ago

Maybe I am wrong but this does just look like slam is struggling since this is a feature sparse environment.

Can you check if the max laser range param in slam toolbox matches the lidar you are trying to simulate? Also provide a ros dump and a tf tree and other details so it's easy to know exactly what's happening.