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
