[Unitree GO2 EDU] Nav2 2D Pose Estimate not working

Software
1

I’m working on Unitree Go2 using ROS 2 Foxy with the Nav2 navigation stack for autonomous navigation.

SLAM is working so far, and I can also see the map when I start navigation.

However, when starting, the robot positions itself directly outside the map. When I try to reposition the robot in RViz with 2D Pose Estimate, nothing happens or RViz crashes.

Navigation logs:
[planner_server-5] [WARN] [1769182273.643596096]
[global_costmap.global_costmap]: Sensor origin at (-4.71, -5.00) is
out of map bounds. The costmap cannot raytrace for it.
[planner_server-5] [WARN] [1769182274.647938784] [nav2_costmap_2d]:
Robot is out of bounds of the costmap!

RViz logs:
[rviz2-1] [INFO] [1769417287.804349632] [go2_unit_14082.rviz]: Message
Filter dropping message: frame ‘odom’ at time 1769416520.304 for
reason ‘Unknown’
[rviz2-1] [INFO] [1769417287.955309248] [go2_unit_14082.rviz]: Message
Filter dropping message: frame ‘odom’ at time 1769416520.375 for
reason ‘Unknown’
[ERROR] [rviz2-1]: process has died [pid 20405, exit code -11, cmd
‘/opt/ros/foxy/lib/rviz2/rviz2 -d
/opt/mybotshop/install/go2_viz/share/go2_viz/rviz/robot.rviz
–ros-args -r __node:=rviz -r __ns:=/go2_unit_14082 -r /tf:=tf -r
/tf_static:=tf_static’].

Screenshot_RViz_Navigation
Screenshot_RViz_Navigation1690×880 106 KB

How can I fix the error?

2

Could you please confirm if the rviz is adding namespace to the 2D pose in the launch file. Most probably, it is something related to that.

3

RViz does not add a namespace to the 2D pose estimation. It is published under /initialpose.

4

It requires nsp then. Simply add nsp tag in rviz launch files remapping to apply the nsp.

5

I added a remapping. The problems remain the same, but a different error code is displayed in the logs.

[rviz2-1] [INFO] [1770634888.999940064] [go2_unit_14082.rviz]: Message Filter dropping message: frame ‘odom’ at time 1770634022.946 for reason ‘Unknown’
[ERROR] [rviz2-1]: process has died [pid 19111, exit code -11, cmd ‘/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/mybotshop/install/go2_viz/share/go2_viz/rviz/robot.rviz --ros-args -r __node:=rviz -r __ns:=/go2_unit_14082 -r /tf:=tf -r /tf_static:=tf_static -r /initialpose:=/go2_unit_14082/initialpose’].