Nav2 Bring up ERROR 20240816
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Contents
Bring Up
TERMINAL1
eepp@adams:~$ source scripts/bringup.sh [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-08-27-20-11-59-923542-adams-3280 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [3281] [INFO] [hlds_laser_publisher-2]: process started with pid [3283] [INFO] [turtlebot3_ros-3]: process started with pid [3285] [turtlebot3_ros-3] [INFO] [1724814720.045400455] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1724814720.045510958] [turtlebot3_node]: Init DynamixelSDKWrapper [hlds_laser_publisher-2] [INFO] [1724814720.045887384] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1724814720.045957127] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1724814720.045918792] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1724814720.047621612] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [robot_state_publisher-1] [INFO] [1724814720.050663257] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1724814720.050722801] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1724814720.050728848] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1724814720.050732352] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1724814720.050735865] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1724814720.050739542] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1724814720.050742838] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1724814720.050746057] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1724814720.050749429] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1] [INFO] [1724814720.050753774] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-1] [INFO] [1724814720.050759663] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1724814720.050765146] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1724814720.050770648] [robot_state_publisher]: got segment wheel_right_link [turtlebot3_ros-3] [INFO] [1724814720.084413258] [turtlebot3_node]: Start Calibration of Gyro [turtlebot3_ros-3] [INFO] [1724814725.084545711] [turtlebot3_node]: Calibration End [turtlebot3_ros-3] [INFO] [1724814725.084600903] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [1724814725.084719843] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [1724814725.084767233] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] [INFO] [1724814725.086822411] [turtlebot3_node]: Succeeded to create battery state publisher [turtlebot3_ros-3] [INFO] [1724814725.087414274] [turtlebot3_node]: Succeeded to create imu publisher [turtlebot3_ros-3] [INFO] [1724814725.088375046] [turtlebot3_node]: Succeeded to create sensor state publisher [turtlebot3_ros-3] [INFO] [1724814725.088645379] [turtlebot3_node]: Succeeded to create joint state publisher [turtlebot3_ros-3] [INFO] [1724814725.088660566] [turtlebot3_node]: Add Devices [turtlebot3_ros-3] [INFO] [1724814725.088669418] [turtlebot3_node]: Succeeded to create motor power server [turtlebot3_ros-3] [INFO] [1724814725.089203023] [turtlebot3_node]: Succeeded to create reset server [turtlebot3_ros-3] [INFO] [1724814725.089394266] [turtlebot3_node]: Succeeded to create sound server [turtlebot3_ros-3] [INFO] [1724814725.089582975] [turtlebot3_node]: Run! [turtlebot3_ros-3] [INFO] [1724814725.093592172] [diff_drive_controller]: Init Odometry [turtlebot3_ros-3] [INFO] [1724814725.095795246] [diff_drive_controller]: Run!
TERMINAL 2
eepp@adams:~$ source scripts/nav2.sh x [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-08-27-20-19-46-047927-adams-4561 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container_isolated-1]: process started with pid [4574] [INFO] [rviz2-2]: process started with pid [4576] [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [rviz2-2] [INFO] [1724815187.155628703] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1724815187.155743730] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1724815187.169398297] [rviz2]: Stereo is NOT SUPPORTED [component_container_isolated-1] [INFO] [1724815187.176170117] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so [component_container_isolated-1] [INFO] [1724815187.184218575] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> [component_container_isolated-1] [INFO] [1724815187.184266433] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> [component_container_isolated-1] [INFO] [1724815187.184271229] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-1] [INFO] [1724815187.184274616] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-1] [INFO] [1724815187.188814203] [map_server]: [component_container_isolated-1] map_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.188860738] [map_server]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.191118324] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so [component_container_isolated-1] [INFO] [1724815187.193298972] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-1] [INFO] [1724815187.193347829] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-1] [INFO] [1724815187.197375461] [amcl]: [component_container_isolated-1] amcl lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.197718281] [amcl]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.198920952] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so [component_container_isolated-1] [INFO] [1724815187.200763051] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-1] [INFO] [1724815187.200788272] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-1] [INFO] [1724815187.205017495] [controller_server]: [component_container_isolated-1] controller_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.207192200] [controller_server]: Creating controller server [component_container_isolated-1] [INFO] [1724815187.211615653] [local_costmap.local_costmap]: [component_container_isolated-1] local_costmap lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.211970581] [local_costmap.local_costmap]: Creating Costmap [component_container_isolated-1] [INFO] [1724815187.212958041] [nav2_container]: Load Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.213843951] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1724815187.213881643] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1724815187.218326411] [lifecycle_manager_localization]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.219780798] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [component_container_isolated-1] [INFO] [1724815187.219810830] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so [component_container_isolated-1] [INFO] [1724815187.220993212] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-1] [INFO] [1724815187.221022249] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-1] [INFO] [1724815187.224776819] [lifecycle_manager_localization]: Starting managed nodes bringup... [component_container_isolated-1] [INFO] [1724815187.224834688] [lifecycle_manager_localization]: Configuring map_server [component_container_isolated-1] [INFO] [1724815187.225012022] [map_server]: Configuring [component_container_isolated-1] [INFO] [map_io]: Loading yaml file: /home/eepp/maps/x.yaml [component_container_isolated-1] [DEBUG] [map_io]: resolution: 0.05 [component_container_isolated-1] [DEBUG] [map_io]: origin[0]: -1 [component_container_isolated-1] [DEBUG] [map_io]: origin[1]: -2.35 [component_container_isolated-1] [DEBUG] [map_io]: origin[2]: 0 [component_container_isolated-1] [DEBUG] [map_io]: free_thresh: 0.25 [component_container_isolated-1] [DEBUG] [map_io]: occupied_thresh: 0.65 [component_container_isolated-1] [DEBUG] [map_io]: mode: trinary [component_container_isolated-1] [DEBUG] [map_io]: negate: 0 [component_container_isolated-1] [INFO] [map_io]: Loading image_file: /home/eepp/maps/x.pgm [component_container_isolated-1] [DEBUG] [map_io]: Read map /home/eepp/maps/x.pgm: 85 X 86 map @ 0.05 m/cell [component_container_isolated-1] [INFO] [1724815187.229229284] [smoother_server]: [component_container_isolated-1] smoother_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.230494710] [lifecycle_manager_localization]: Configuring amcl [component_container_isolated-1] [INFO] [1724815187.230652278] [amcl]: Configuring [component_container_isolated-1] [INFO] [1724815187.230736916] [amcl]: initTransforms [component_container_isolated-1] [INFO] [1724815187.231728212] [smoother_server]: Creating smoother server [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.233819224] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so [component_container_isolated-1] [INFO] [1724815187.235297952] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-1] [INFO] [1724815187.235373291] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-1] [INFO] [1724815187.238385138] [amcl]: initPubSub [component_container_isolated-1] [INFO] [1724815187.242806658] [amcl]: Subscribed to map topic. [component_container_isolated-1] [ERROR] [1724815187.245987863] [amcl]: Caught exception in callback for transition 10 [component_container_isolated-1] [ERROR] [1724815187.246023804] [amcl]: Original error: According to the loaded plugin descriptions the class differential with base class type nav2_amcl::MotionModel does not exist. Declared types are nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel [component_container_isolated-1] [WARN] [1724815187.246043523] [amcl]: Error occurred while doing error handling. [component_container_isolated-1] [FATAL] [1724815187.246057391] [amcl]: Lifecycle node amcl does not have error state implemented [component_container_isolated-1] [ERROR] [1724815187.246433018] [lifecycle_manager_localization]: Failed to change state for node: amcl [component_container_isolated-1] [ERROR] [1724815187.246464835] [lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup. [component_container_isolated-1] [INFO] [1724815187.246555416] [planner_server]: [component_container_isolated-1] planner_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.247488215] [planner_server]: Creating [component_container_isolated-1] [INFO] [1724815187.253371000] [global_costmap.global_costmap]: [component_container_isolated-1] global_costmap lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.253639149] [global_costmap.global_costmap]: Creating Costmap [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.256556037] [nav2_container]: Load Library: /opt/ros/humble/lib/libbehavior_server_core.so [component_container_isolated-1] [INFO] [1724815187.258421417] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-1] [INFO] [1724815187.258450579] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-1] [INFO] [1724815187.264525030] [behavior_server]: [component_container_isolated-1] behavior_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.268312157] [nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so [component_container_isolated-1] [INFO] [1724815187.269500210] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-1] [INFO] [1724815187.269520288] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-1] [INFO] [1724815187.276684483] [bt_navigator]: [component_container_isolated-1] bt_navigator lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.276735771] [bt_navigator]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.278174662] [nav2_container]: Load Library: /opt/ros/humble/lib/libwaypoint_follower_core.so [component_container_isolated-1] [INFO] [1724815187.278679266] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-1] [INFO] [1724815187.278697626] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-1] [INFO] [1724815187.287236989] [waypoint_follower]: [component_container_isolated-1] waypoint_follower lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.287654921] [waypoint_follower]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container' [component_container_isolated-1] [INFO] [1724815187.290234278] [nav2_container]: Load Library: /opt/ros/humble/lib/libvelocity_smoother_core.so [component_container_isolated-1] [INFO] [1724815187.290929799] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-1] [INFO] [1724815187.290952516] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-1] [WARN] [1724815187.297922160] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [component_container_isolated-1] [INFO] [1724815187.299141729] [velocity_smoother]: [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container' [component_container_isolated-1] velocity_smoother lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transitions to activate [component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1724815187.300919238] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1724815187.300946773] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1724815187.311340213] [lifecycle_manager_navigation]: Creating
Error Hunt 02
Search for " [amcl]: Caught exception in callback for transition 10 "
Isaac 2022.2.0 Humble Navigation error
The following file wasn't found - carter_navigation_params.yaml. I must not be carter_navigation packages.
Error Hunt 01
Search for " [amcl]: Caught exception in callback for transition 10 "
Mutli_tb3_simulation_launch.py - Original error: parameter 'yaml_filename' is not initialized #3644
xkaraman commented Jun 30, 2023 •
I believe this is related to #3182. I face the same issue when using ROS2 Humble, nav2 (Version: 1.1.8-2jammy.20230624.064440) installed from binaries.
As noted in #3606 in my comment, when I append the 'use_composition': 'False' all seem to work fine.
ie.
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(bringup_dir,
'launch',
'tb3_simulation_launch.py')),
launch_arguments={'namespace': robot['name'],
...
'use_composition': 'False',
...
'robot_name':TextSubstitution(text=robot['name']), }.items()),
You noted that this should be solved by #3383, but it's for humble at least that it does not.
Update:
After editing localization_launch.py change the composable map server from
ComposableNode(
package='nav2_map_server',
plugin='nav2_map_server::MapServer',
name='map_server',
parameters=[configured_params],
remappings=remappings),
to
ComposableNode(
package='nav2_map_server',
plugin='nav2_map_server::MapServer',
name='map_server',
parameters=[configured_params,
{'yaml_filename': map_yaml_file}], # Added this to parameters
remappings=remappings),
map_server is able to load the maps and these errors disappear.
[component_container_isolated-9] [ERROR] [1688131650.010146598] []: Caught exception in callback for transition 10
[component_container_isolated-9] [ERROR] [1688131650.010154559] []: Original error: parameter 'yaml_filename' is not initialized
[component_container_isolated-9] [WARN] [1688131650.010171663] []: Error occurred while doing error handling.
Unfortunately, I couldn't find what caused the critics error.
Is RewrittenYaml reliable? Shouldn't yaml_filename already be changed according to param_substitutions?
Fix
eepp@adams:~$ sudo find / -name localization_launch.py
find: ‘/run/user/1000/doc’: Permission denied
find: ‘/run/user/1000/gvfs’: Permission denied
/opt/ros/humble/share/slam_toolbox/launch/localization_launch.py
/opt/ros/humble/share/nav2_bringup/launch/localization_launch.py
eepp@adams:~$ cd /opt/ros/humble/share/nav2_bringup/launch/
eepp@adams:launch$ sudo cp localization_launch.py localization_launch.py.org
eepp@adams:launch$ sudo emacs localization_launch.py&
[1] 4752
eepp@adams:launch$ diff localization_launch.py.org localization_launch.py
153c153,154
< parameters=[configured_params],
---
> parameters=[configured_params,
> {'yaml_filename': map_yaml_file}], # #3644, 3182
Still same failure
See clue from above that I didn't make all the changes: "After editing localization_launch.py change the composable map server from".
