Nav2 goal aborts frequently

[thatoneade]

20250814_003541.mp4

Whenever I give a goal and robots begins to execute, if wouldn't take up to few seconds then it will abort. It can still become active then for another few seconds it aborts.

[kaiaai]

Hello,

thank you for the video. It's a bit hard to say what's going on - I need to see everything (your Rviz, your Bash terminal and your robot) at the same time. Seeing errors in real time as you operate Rviz is very important. I'd recommend using a desktop screen video recorder - while recording a video of your robot (simultaneously) with your phone.

That said, I've noticed a "Transform data too old when converting from odom to map" error. This error should never be happening.

Here is what I believe is happening (I'm not 100% sure, but it seems likely). Looking at that error's timestamps, it takes around a second (!) to process the real-time robot data (odom) into the map coordinates. So, Nav2 discards the (old) robot data. That breaks the rest of the processing - your localization and navigation services don't know the robot's location on the map. Naturally, navigation fails.

As a guess, maybe your PC is running too slow. Looking at your video, it seems you are running ROS2 in an Ubuntu virtual machine on Windows. In my experience, Ubuntu VM runs obviously (!) slower - compared to running ROS2 using the Kaia.ai Docker image. Here is what you can do:

• try closing Windows software that can slow down your PC
• try using a (much) faster PC
• try running ROS2 using the Kaia.ai Docker WSL image instead of Ubuntu VM
• increase the transform timeout to remove the transform timeout error (try Google search how to do that) - but this is not a good way to fix this

[thatoneade]

Thank you very much for your reply. I'm really grateful! I'll use a much faster PC. I want to tell you some things I did. I changed some values in the urdf of makerspet mini to my own robot model. Values like wheel base, caster wheel diameter... Am I right do make these changes? Also please suggest what pc spec you think would work effectively. One more thing I saw that there are different navigation.yaml files like navigation_pursuit.yaml, navigation_new.yaml and then there is navigation.yaml. Which is these navigation.yaml do I need to change its everything?

…

On Thu, 14 Aug 2025, 19:03 kaia.ai, ***@***.***> wrote: Hello, thank you for the video. It's a bit hard to say what's going on - I need to see everything (your Rviz, your Bash terminal and your robot) at the same time. Seeing errors in real time as you operate Rviz is very important. I'd recommend using a desktop screen video recorder - while recording a video of your robot (simultaneously) with your phone. That said, I've noticed a "Transform data too old when converting from odom to map" error. This error should never be happening. Here is what I believe is happening (I'm not 100% sure, but it seems likely). Looking at that error's timestamps, it takes around a second (!) to process the real-time robot data (odom) into the map coordinates. So, Nav2 discards the (old) robot data. That breaks the rest of the processing - your localization and navigation services don't know the robot's location on the map. Naturally, navigation fails. As a guess, maybe your PC is running too slow. Looking at your video, it seems you are running ROS2 in an Ubuntu virtual machine on Windows. In my experience, Ubuntu VM runs obviously (!) slower - compared to running ROS2 using the Kaia.ai Docker image. Here is what you can do: - try closing Windows software that can slow down your PC - try using a (much) faster PC - try running ROS2 using the Kaia.ai Docker WSL image instead of Ubuntu VM - increase the transform timeout to remove the transform timeout error (try Google search how to do that) - but this is not a good way to fix this — Reply to this email directly, view it on GitHub <#60 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BETLT4RZWCOVFOUOD5Q4M3D3NTFN3AVCNFSM6AAAAACD4OLBUGVHI2DSMVQWIX3LMV43URDJONRXK43TNFXW4Q3PNVWWK3TUHMYTIMJQG42DAMY> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[kaiaai]

When you make changes to your robot size, you should make changes in several places

• firmware config.yaml, see this post for details https://blog.kaia.ai/kaiaai-configuration-file/
• URDF, as you have mentioned
• also, possibly, navigation.yaml, it has many settings like mapping/navigation speed, etc.

I used the navigation_pursuit.yaml and navigation_new.yaml files to experiment with alternative settings and path planners, but I have not tested these files and therefore I don't support them. That said, you are welcome to use those files as examples for your own experimentation.

I recommend 8GB Windows 11 PC, Intel i7 (or similar AMD) 8 physical cores or better to run WSL. The minimum requirement is 4GB Windows 10, Intel i5 4 physical cores (or similar AMD). I don't recommend using a virtual machine to run ROS2. Even my fast desktop PC shows lag problems running ROS2 in a virtual machine. I recommend running ROS2 in Windows WSL or use a Ubuntu Linux PC.