项目场景：
导航过程中，机器人原地打转，无法执行导航操作
问题描述
[ WARN] [1649901508.277286663]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1649901513.477463663]: Clearing both costmaps to unstuck robot (3.00m).
[ WARN] [1649901513.986066419]: Joint state with name: "Joint1" was received but not found in URDF
[ WARN] [1649901518.677390416]: Rotate recovery behavior started.
[ WARN] [1649901524.037543995]: Joint state with name: "Joint1" was received but not found in URDF
[ERROR] [1649901530.877808810]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
报错信息：
Aborting because a valid plan could not be found. Even after executing all recovery behaviors
原因分析&解决方案：
1.rviz上看看是否要碰到障碍物了，膨胀系数是否设置的太大
2.选取另外的目标点，可能是无法到达的目标点
3.也可能如Gazebo仿真激光SLAM_yitakabe的博客-CSDN博客_gazebo slam所说的
问题在于当机器人有旋转的动作时，所有的可选轨迹就会变很短，从而导致机器人的速度变得很小。如果提高了机器人的速度上限，可以在某种程度上增加机器人有旋转动作时的移动速度
解决办法：
提高acc_lim_x, acc_lim_theta, and acc_lim_trans的参数值（非常大的值，甚至可能实现不了，如10-30）
我的情况是代码中设置的点有点偏差，导致无法执行，更改点后就可以了