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Navigation: mission fails with "Path too short" #87

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jnippula opened this issue Sep 24, 2021 · 3 comments
Open

Navigation: mission fails with "Path too short" #87

jnippula opened this issue Sep 24, 2021 · 3 comments

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@jnippula
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jnippula commented Sep 24, 2021 •
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Navigation waypoint service call failed due to "Path too short" respond.

Here is a snippet from Navigation node trace log:

syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.684846503] [sad05.navigation]: [navigation]: Creating coord transform request
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.684893766] [sad05.navigation]: [navigation]: Calling coord transform
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.685278414] [sad05.navigation]: [navigation]: Coordinate transform returned: 0.60, -6.48
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.685320424] [sad05.navigation]: [navigation]: Waypoint added (LOCAL): 0.60, -6.48, 1.50, 0.00
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.685382764] [sad05.navigation]: [navigation]: Planning started
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.754369862] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.766967295] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298748.767023099] [sad05.navigation]: [navigation]: path too short
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.854352273] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.870553973] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298748.871220572] [sad05.navigation]: [navigation]: path too short
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.954926139] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.966174525] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298748.966228822] [sad05.navigation]: [navigation]: path too short
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298749.054536839] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [ERROR] [1632298749.054613549] [sad05.navigation]: [navigation]: No waypoint produced after 3 repeated attempts. Please provide a new waypoint
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298749.067445041] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298749.067519472] [sad05.navigation]: [navigation]: path too short
@stibipet
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What was the expected outcome? From the log, I see that the drone was commanded to move only a very short distance (less than the planning tree resolution). In that case, no motion is required because the goal is already reached.

@jnippula
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Sorry, there are not enough information in that small log. More needed, I'll add.

@jnippula
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Not sure anymore what has been the expected outcome here, but seems that the waypoint request has been given to the takeoff position, but just 50cm higher. Takeoff altitude is 1m and waypoint altitude is 1.5m.
The biggest issue here is that according to the PX4 VehicleOdometry and the mocap_pose (motion capture camera system) the drone didn't move at all during the whole test period, so it never even taken off from the ground.

I guess one possible explanation for this is that because the navigation goal was given to too close position the navigation planning failed and the "takeoff mission" had been cancelled before it even properly started? What do you think?

Logs from different modules during that time frame

Navigation:

syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.684846503] [sad05.navigation]: [navigation]: Creating coord transform request
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.684893766] [sad05.navigation]: [navigation]: Calling coord transform
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.685278414] [sad05.navigation]: [navigation]: Coordinate transform returned: 0.60, -6.48
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.685320424] [sad05.navigation]: [navigation]: Waypoint added (LOCAL): 0.60, -6.48, 1.50, 0.00
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.685382764] [sad05.navigation]: [navigation]: Planning started
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.754369862] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.766967295] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298748.767023099] [sad05.navigation]: [navigation]: path too short
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.854352273] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.870553973] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298748.871220572] [sad05.navigation]: [navigation]: path too short
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.954926139] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298748.966174525] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:08 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298748.966228822] [sad05.navigation]: [navigation]: path too short
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298749.054536839] [sad05.navigation]: [navigation]: Waypoint [0.66, -6.51, 1.50, 0.00] set as a next goal
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [ERROR] [1632298749.054613549] [sad05.navigation]: [navigation]: No waypoint produced after 3 repeated attempts. Please provide a new waypoint
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [INFO] [1632298749.067445041] [sad05.navigation]: [navigation]: Planner returned 2 waypoints
syys 22 11:19:09 sad05 sh[711]: [component_container_mt-1] [WARN] [1632298749.067519472] [sad05.navigation]: [navigation]: path too short

control_interface:

syys 22 11:19:04 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298744.457292937] [sad05.control_interface]: [control_interface]: Vehicle not armed
syys 22 11:19:05 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298745.556992433] [sad05.control_interface]: [control_interface]: Vehicle not armed
syys 22 11:19:06 sad05 sh[713]: [component_container_mt-1] [WARN] [1632298746.530688273] [sad05.control_interface]: [control_interface]: Vehicle armed
syys 22 11:19:06 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298746.530882198] [sad05.control_interface]: [control_interface]: Vehicle not airborne
syys 22 11:19:06 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298746.635444221] [sad05.control_interface]: [control_interface]: Resetting octomap server
syys 22 11:19:06 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298746.665456408] [sad05.control_interface]: [control_interface]: Taking off
syys 22 11:19:07 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298747.556992994] [sad05.control_interface]: [control_interface]: Vehicle not airborne
syys 22 11:19:07 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298747.957244814] [sad05.control_interface]: [control_interface]: Waypoints to be visited: 1
syys 22 11:19:07 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298747.989560350] [sad05.control_interface]: [control_interface]: Waypoint (LOCAL) [-0.09,-0.38,1.00,0.00] added into mission
syys 22 11:19:08 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298748.139638241] [sad05.control_interface]: [control_interface]: Mission uploaded
syys 22 11:19:08 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298748.169291313] [sad05.control_interface]: [control_interface]: Mission started
syys 22 11:19:08 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298748.685073840] [sad05.control_interface]: [control_interface]: Transformed GPS [61.5034, 23.7751] into local: [0.600874, -6.48324]
syys 22 11:19:09 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298749.102063658] [sad05.control_interface]: [control_interface]: Previous mission stopped
syys 22 11:19:09 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298749.136295643] [sad05.control_interface]: [control_interface]: Landing
syys 22 11:19:11 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298751.059216497] [sad05.control_interface]: [control_interface]: Vehicle not airborne
syys 22 11:19:12 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298752.059770729] [sad05.control_interface]: [control_interface]: Vehicle not airborne
syys 22 11:19:13 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298753.060348686] [sad05.control_interface]: [control_interface]: Vehicle not airborne
syys 22 11:19:14 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298754.060884511] [sad05.control_interface]: [control_interface]: Vehicle not airborne
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [INFO] [1632298755.061422225] [sad05.control_interface]: [control_interface]: Vehicle not airborne

Mavlink:

syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:18:42|Debug] MAVLink: info: Kill-switch disengaged (system_impl.cpp:234)
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:19:06|Debug] MAVLink: info: Armed by external command (system_impl.cpp:234)
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:19:06|Debug] MAVLink: info: [logger] /fs/microsd/log/2021-09-22/08_19_06.ulg (system_impl.cpp:234)
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:19:06|Debug] MAVLink: info: Using minimum takeoff altitude: 1.00 m (system_impl.cpp:234)
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:19:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:234)
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:19:08|Debug] MAVLink: info: Takeoff to 1.0 meters above home. (system_impl.cpp:234)
syys 22 11:19:15 sad05 sh[713]: [component_container_mt-1] [11:19:11|Debug] MAVLink: info: Landing detected (system_impl.cpp:234)

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