因路径规划异常导致导航停止 Failed to pass global plan to the controller

因路径规划异常导致导航停止 Failed to pass global plan to the controller

控制台错误信息:

[ WARN] [1718875656.343893537, 93.698000000]: Transformed plan is empty. Aborting local planner!
[ERROR] [1718875656.343922719, 93.698000000]: move_base.cpp:854 Failed to pass global plan to the controller, aborting.

 我不想让导航停止,我想让导航一直规划,如和让他一直规划呢?

解决方案:

在 move_base/src/move_base.cpp 863行把 return true; 注释掉: return true

注意:

planner_frequency: 5.0 这个配置不能是-1,否则会一直规划.当你给大目标点是墙体中心,那么全局规划会一直规划,所以需要给有限规划次数,哪怕大一点也没事