Nav2 Bring up ERROR 20240902

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eepp@adams:logs$ 
eepp@adams:logs$ cat nav_life_20240908b.txt 
eepp@adams:~$ source scripts/bringup.sh 
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-09-02-16-54-03-072376-adams-1944
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [1945]
[INFO] [hlds_laser_publisher-2]: process started with pid [1947]
[INFO] [turtlebot3_ros-3]: process started with pid [1949]
[hlds_laser_publisher-2] [INFO] [1725321243.193959491] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-2] [INFO] [1725321243.194041880] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[turtlebot3_ros-3] [INFO] [1725321243.194321851] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [1725321243.194489745] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [1725321243.195005102] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [1725321243.196845839] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[robot_state_publisher-1] [INFO] [1725321243.199833223] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1725321243.199889648] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1725321243.199894868] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1725321243.199898361] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1725321243.199901926] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1725321243.199905324] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1725321243.199908573] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1725321243.199911746] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1725321243.199914835] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1725321243.199917895] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1725321243.199920878] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1725321243.199924173] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1725321243.199927387] [robot_state_publisher]: got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [1725321243.231492740] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [1725321248.231702329] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [1725321248.231796496] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [1725321248.232018933] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [1725321248.232158376] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [1725321248.268842031] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [1725321248.270018771] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [1725321248.271700138] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [1725321248.272163174] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [1725321248.272179712] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [1725321248.272194901] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [1725321248.272697227] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [1725321248.272885658] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [1725321248.273062711] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [1725321248.276743807] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [1725321248.278992446] [diff_drive_controller]: Run!
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[turtlebot3_ros-3] [INFO] [1725322203.029768730] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-1] [INFO] [1725322203.029775041] [rclcpp]: signal_handler(signum=2)
[hlds_laser_publisher-2] [INFO] [1725322203.029856771] [rclcpp]: signal_handler(signum=2)
[ERROR] [hlds_laser_publisher-2]: process has died [pid 1947, exit code 255, cmd '/opt/ros/humble/lib/hls_lfcd_lds_driver/hlds_laser_publisher --ros-args -r __node:=hlds_laser_publisher --params-file /tmp/launch_params_vmdc4_53'].
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 1945]
[INFO] [turtlebot3_ros-3]: process has finished cleanly [pid 1949]
eepp













2


eepp@adams:~$ ros2 run nav2_util lifecycle_bringup map_server 
[INFO] [1725322077.156227089] [map_server_lifecycle_client_49261802]: Waiting for service map_server/get_state...
[INFO] [1725322079.156526038] [map_server_lifecycle_client_49261802]: Waiting for service map_server/get_state...
[INFO] [1725322081.156668690] [map_server_lifecycle_client_49261802]: Waiting for service map_server/get_state...
[INFO] [1725322083.156815214] [map_server_lifecycle_client_49261802]: Waiting for service map_server/get_state...








3

<pre>



eepp@adams:~$ source scripts/nav2.sh 20240826first01
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-09-02-17-08-02-989952-adams-2350
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated-1]: process started with pid [2363]
[INFO] [rviz2-2]: process started with pid [2365]
[component_container_isolated-1] [INFO] [1725322084.153495051] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so
[component_container_isolated-1] [INFO] [1725322084.161962018] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-1] [INFO] [1725322084.161997509] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-1] [INFO] [1725322084.162001951] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1725322084.162005691] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-1] [INFO] [1725322084.166423673] [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.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1725322084.166464995] [map_server]: Creating
[component_container_isolated-1] [INFO] [1725322084.166713242] [map_server]: Configuring
[component_container_isolated-1] [INFO] [1725322084.168171692] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so
[component_container_isolated-1] [INFO] [map_io]: Loading yaml file: /home/eepp/maps/20240826first01.yaml
[component_container_isolated-1] [DEBUG] [map_io]: resolution: 0.05
[component_container_isolated-1] [DEBUG] [map_io]: origin[0]: -4.38
[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/20240826first01.pgm
[component_container_isolated-1] [INFO] [1725322084.170929030] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1725322084.170957591] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [DEBUG] [map_io]: Read map /home/eepp/maps/20240826first01.pgm: 214 X 256 map @ 0.05 m/cell
[component_container_isolated-1] [INFO] [1725322084.173790261] [map_server]: Activating
[component_container_isolated-1] [INFO] [1725322084.173895655] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1725322084.177191388] [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] [1725322084.179521097] [controller_server]: Creating controller server
[component_container_isolated-1] [INFO] [1725322084.183249744] [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] [1725322084.183706717] [local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1725322084.184442280] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so
[component_container_isolated-1] [INFO] [1725322084.186096153] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1725322084.186117509] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1725322084.190110240] [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] [1725322084.190364635] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1725322084.191768707] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so
[component_container_isolated-1] [INFO] [1725322084.193049947] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1725322084.193073970] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1725322084.197783020] [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] [1725322084.198628308] [smoother_server]: Creating smoother server
[component_container_isolated-1] [INFO] [1725322084.199011832] [nav2_container]: Load Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1725322084.199589119] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1725322084.199611251] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1725322084.203244814] [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] [1725322084.204339677] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1725322084.204385768] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so
[component_container_isolated-1] [INFO] [1725322084.205038959] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1725322084.205059971] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1725322084.206556501] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1725322084.206588023] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-1] [WARN] [1725322084.206693864] [rcl_lifecycle]: No transition matching 1 found for current state active
[component_container_isolated-1] [ERROR] [1725322084.206711665] [map_server]: Unable to start transition 1 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-1] [ERROR] [1725322084.206882335] [lifecycle_manager_localization]: Failed to change state for node: map_server
[component_container_isolated-1] [ERROR] [1725322084.206906753] [lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup.
[component_container_isolated-1] [INFO] [1725322084.210688997] [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] [1725322084.211552645] [planner_server]: Creating
[component_container_isolated-1] [INFO] [1725322084.216243303] [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] [1725322084.216528120] [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] [1725322084.218514605] [nav2_container]: Load Library: /opt/ros/humble/lib/libbehavior_server_core.so
[component_container_isolated-1] [INFO] [1725322084.220262922] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1725322084.220286170] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1725322084.225250623] [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] [1725322084.228102041] [nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so
[component_container_isolated-1] [INFO] [1725322084.229332220] [nav2_container]: Found clas