Latest revision as of 22:12, 28 September 2024

Relevant Ticket

Search string "descriptions the class differential with base class type nav2_amcl::MotionModel does not exist. Declared types are nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel"

• AMCL failing when starting Navigation Simulation #884

 johnpenright commented on Jul 5, 2022
 So I've made some progress. In the robot param file (waffle_pi.yaml), if I change line 29 from

     robot_model_type: "differential"

 to

     robot_model_type: "nav2_amcl::DifferentialMotionModel"

then rViz will launch and initialize properly.

However I don't seem to be getting a local costmap, even though rViz is confugured to display one. I'm not seeing any clear errors in the logs.

Fix

 param$ pwd
     /opt/ros/humble/share/turtlebot3_navigation2/param

 param$ sudo cp waffle.yaml waffle.yaml.org
     [1]-  Done                    emacs waffle_pi.yaml

 param$ sudo emacs waffle.yaml&
     [3] 5401

 param$ diff waffle.yaml waffle.yaml.org 
     29c29
     <     robot_model_type: "nav2_amcl::DifferentialMotionModel"
     ---
     >     robot_model_type: "differential"

Status

There is no local costmap. See above.