Navigation2 No Costmap 20241002
From wikidb
eepp@adams:~$ source scripts/nav2.sh 20240826first01 [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-10-02-12-57-11-148592-adams-6091 [INFO] [launch]: Default logging verbosity is set to INFO 2024-10-02 12:57:11.686 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port14919: open_and_lock_file failed -> Function open_port_internal 2024-10-02 12:57:11.687 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port14923: open_and_lock_file failed -> Function open_port_internal [INFO] [component_container_isolated-1]: process started with pid [6105] [INFO] [rviz2-2]: process started with pid [6107] [component_container_isolated-1] 2024-10-02 12:57:12.106 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port14919: open_and_lock_file failed -> Function open_port_internal [component_container_isolated-1] 2024-10-02 12:57:12.106 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port14923: open_and_lock_file failed -> Function open_port_internal [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [rviz2-2] 2024-10-02 12:57:12.443 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port14919: open_and_lock_file failed -> Function open_port_internal [rviz2-2] 2024-10-02 12:57:12.444 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port14923: open_and_lock_file failed -> Function open_port_internal [rviz2-2] [INFO] [1727899032.571919154] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1727899032.572047750] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [component_container_isolated-1] [INFO] [1727899032.572157811] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so [component_container_isolated-1] [INFO] [1727899032.580307207] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> [component_container_isolated-1] [INFO] [1727899032.580363455] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> [component_container_isolated-1] [INFO] [1727899032.580368922] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-1] [INFO] [1727899032.580374573] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [rviz2-2] [INFO] [1727899032.584660936] [rviz2]: Stereo is NOT SUPPORTED [component_container_isolated-1] [INFO] [1727899032.585603561] [map_server]: [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container' [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] [1727899032.585648421] [map_server]: Creating [component_container_isolated-1] [INFO] [1727899032.588484973] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so [component_container_isolated-1] [INFO] [1727899032.590506844] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-1] [INFO] [1727899032.590532547] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-1] [INFO] [1727899032.594332188] [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] [1727899032.594656486] [amcl]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container' [component_container_isolated-1] [INFO] [1727899032.597282775] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so [component_container_isolated-1] [INFO] [1727899032.599990677] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-1] [INFO] [1727899032.600048079] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> [component_container_isolated-1] [INFO] [1727899032.606907072] [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] [1727899032.610963101] [controller_server]: Creating controller server [component_container_isolated-1] [INFO] [1727899032.616103603] [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] [1727899032.616574601] [local_costmap.local_costmap]: Creating Costmap [component_container_isolated-1] [INFO] [1727899032.618290659] [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] [1727899032.619678779] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1727899032.619776844] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1727899032.626907249] [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] [1727899032.630625930] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [component_container_isolated-1] [INFO] [1727899032.630784508] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so [component_container_isolated-1] [INFO] [1727899032.632803167] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-1] [INFO] [1727899032.632856500] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> [component_container_isolated-1] [INFO] [1727899032.635169154] [lifecycle_manager_localization]: Starting managed nodes bringup... [component_container_isolated-1] [INFO] [1727899032.635204043] [lifecycle_manager_localization]: Configuring map_server [component_container_isolated-1] [INFO] [1727899032.635312954] [map_server]: Configuring [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] [1727899032.642576466] [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] [DEBUG] [map_io]: Read map /home/eepp/maps/20240826first01.pgm: 214 X 256 map @ 0.05 m/cell [component_container_isolated-1] [INFO] [1727899032.644258315] [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] [1727899032.645928817] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so [component_container_isolated-1] [INFO] [1727899032.646019565] [lifecycle_manager_localization]: Configuring amcl [component_container_isolated-1] [INFO] [1727899032.646100570] [amcl]: Configuring [component_container_isolated-1] [INFO] [1727899032.646159807] [amcl]: initTransforms [component_container_isolated-1] [INFO] [1727899032.646569735] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-1] [INFO] [1727899032.646882701] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> [component_container_isolated-1] [INFO] [1727899032.654365479] [amcl]: initPubSub [component_container_isolated-1] [INFO] [1727899032.658176359] [amcl]: Subscribed to map topic. [component_container_isolated-1] [INFO] [1727899032.659977630] [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] [1727899032.661052155] [planner_server]: Creating [component_container_isolated-1] [INFO] [1727899032.661486785] [lifecycle_manager_localization]: Activating map_server [component_container_isolated-1] [INFO] [1727899032.662701420] [map_server]: Activating [component_container_isolated-1] [INFO] [1727899032.662827463] [map_server]: Creating bond (map_server) to lifecycle manager. [component_container_isolated-1] [INFO] [1727899032.662932105] [amcl]: Received a 214 X 256 map @ 0.050 m/pix [component_container_isolated-1] [INFO] [1727899032.671554202] [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] [1727899032.671849955] [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] [1727899032.674435827] [nav2_container]: Load Library: /opt/ros/humble/lib/libbehavior_server_core.so [component_container_isolated-1] [INFO] [1727899032.676321736] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-1] [INFO] [1727899032.676354836] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> [component_container_isolated-1] [WARN] [1727899032.677622015] [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] [1727899032.683314409] [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] [1727899032.686670397] [nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so [component_container_isolated-1] [INFO] [1727899032.688084115] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-1] [INFO] [1727899032.688117960] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> [component_container_isolated-1] [INFO] [1727899032.696975767] [bt_navigator]: [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container' [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] [1727899032.697027405] [bt_navigator]: Creating [component_container_isolated-1] [INFO] [1727899032.699396063] [nav2_container]: Load Library: /opt/ros/humble/lib/libwaypoint_follower_core.so [component_container_isolated-1] [INFO] [1727899032.699965030] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-1] [INFO] [1727899032.699986416] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> [component_container_isolated-1] [INFO] [1727899032.708112108] [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] [1727899032.708408433] [waypoint_follower]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container' [component_container_isolated-1] [INFO] [1727899032.710568085] [nav2_container]: Load Library: /opt/ros/humble/lib/libvelocity_smoother_core.so [component_container_isolated-1] [INFO] [1727899032.711838323] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-1] [INFO] [1727899032.711890801] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> [component_container_isolated-1] [INFO] [1727899032.723029852] [velocity_smoother]: [component_container_isolated-1] velocity_smoother lifecycle node launched. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container' [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] [1727899032.724956242] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1727899032.724986242] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> [component_container_isolated-1] [INFO] [1727899032.730876394] [lifecycle_manager_navigation]: Creating [component_container_isolated-1] [INFO] [1727899032.732813584] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container' [component_container_isolated-1] [INFO] [1727899032.741797536] [lifecycle_manager_navigation]: Starting managed nodes bringup... [component_container_isolated-1] [INFO] [1727899032.741838178] [lifecycle_manager_navigation]: Configuring controller_server [component_container_isolated-1] [INFO] [1727899032.742076075] [controller_server]: Configuring controller interface [component_container_isolated-1] [INFO] [1727899032.742321038] [controller_server]: getting goal checker plugins.. [component_container_isolated-1] [INFO] [1727899032.742428146] [controller_server]: Controller frequency set to 10.0000Hz [component_container_isolated-1] [INFO] [1727899032.742463710] [local_costmap.local_costmap]: Configuring [component_container_isolated-1] [INFO] [1727899032.745966506] [local_costmap.local_costmap]: Using plugin "obstacle_layer" [component_container_isolated-1] [INFO] [1727899032.748671477] [local_costmap.local_costmap]: Subscribed to Topics: scan [component_container_isolated-1] [INFO] [1727899032.753960406] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer" [component_container_isolated-1] [INFO] [1727899032.754001597] [local_costmap.local_costmap]: Using plugin "voxel_layer" [component_container_isolated-1] [INFO] [1727899032.755226022] [local_costmap.local_costmap]: Subscribed to Topics: scan [component_container_isolated-1] [INFO] [1727899032.762046185] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [component_container_isolated-1] [INFO] [1727899032.762082388] [local_costmap.local_costmap]: Using plugin "inflation_layer" [component_container_isolated-1] [INFO] [1727899032.763329171] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [component_container_isolated-1] [INFO] [1727899032.769420174] [lifecycle_manager_localization]: Server map_server connected with bond. [component_container_isolated-1] [INFO] [1727899032.769517427] [lifecycle_manager_localization]: Activating amcl [component_container_isolated-1] [INFO] [1727899032.769938952] [amcl]: Activating [component_container_isolated-1] [INFO] [1727899032.769981643] [amcl]: Creating bond (amcl) to lifecycle manager. [component_container_isolated-1] [INFO] [1727899032.773451414] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [component_container_isolated-1] [INFO] [1727899032.774510900] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [component_container_isolated-1] [INFO] [1727899032.775097981] [controller_server]: Controller Server has general_goal_checker goal checkers available. [component_container_isolated-1] [INFO] [1727899032.776661627] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [component_container_isolated-1] [INFO] [1727899032.777908597] [controller_server]: Setting transform_tolerance to 0.200000 [rviz2-2] [INFO] [1727899032.783296515] [rviz2]: Trying to create a map of size 214 x 256 using 1 swatches [rviz2-2] [ERROR] [1727899032.787345227] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : [rviz2-2] active samplers with a different type refer to the same texture image unit [component_container_isolated-1] [INFO] [1727899032.787352391] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [component_container_isolated-1] [INFO] [1727899032.788363911] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.788547131] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [component_container_isolated-1] [INFO] [1727899032.789469145] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.789782343] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [component_container_isolated-1] [INFO] [1727899032.790793161] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.791226573] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [component_container_isolated-1] [INFO] [1727899032.792144782] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.792472945] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [component_container_isolated-1] [INFO] [1727899032.793105574] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.793310888] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [component_container_isolated-1] [INFO] [1727899032.793657877] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.793911658] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [component_container_isolated-1] [INFO] [1727899032.794433385] [controller_server]: Critic plugin initialized [component_container_isolated-1] [INFO] [1727899032.794497176] [controller_server]: Controller Server has FollowPath controllers available. [component_container_isolated-1] [INFO] [1727899032.804334277] [lifecycle_manager_navigation]: Configuring smoother_server [component_container_isolated-1] [INFO] [1727899032.804439223] [smoother_server]: Configuring smoother server [component_container_isolated-1] [INFO] [1727899032.808515829] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [component_container_isolated-1] [INFO] [1727899032.809087973] [smoother_server]: Smoother Server has simple_smoother smoothers available. [component_container_isolated-1] [INFO] [1727899032.812127924] [lifecycle_manager_navigation]: Configuring planner_server [component_container_isolated-1] [INFO] [1727899032.812206280] [planner_server]: Configuring [component_container_isolated-1] [INFO] [1727899032.812234647] [global_costmap.global_costmap]: Configuring [component_container_isolated-1] [INFO] [1727899032.819327261] [global_costmap.global_costmap]: Using plugin "static_layer" [component_container_isolated-1] [INFO] [1727899032.820645512] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [component_container_isolated-1] [INFO] [1727899032.821325725] [global_costmap.global_costmap]: Initialized plugin "static_layer" [component_container_isolated-1] [INFO] [1727899032.821363196] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [component_container_isolated-1] [INFO] [1727899032.822281957] [global_costmap.global_costmap]: Subscribed to Topics: scan [component_container_isolated-1] [INFO] [1727899032.826012677] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [component_container_isolated-1] [INFO] [1727899032.826039341] [global_costmap.global_costmap]: Using plugin "voxel_layer" [component_container_isolated-1] [INFO] [1727899032.826882491] [global_costmap.global_costmap]: Subscribed to Topics: scan [component_container_isolated-1] [INFO] [1727899032.833407768] [global_costmap.global_costmap]: Initialized plugin "voxel_layer" [component_container_isolated-1] [INFO] [1727899032.833440917] [global_costmap.global_costmap]: Using plugin "inflation_layer" [component_container_isolated-1] [INFO] [1727899032.834512922] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [component_container_isolated-1] [INFO] [1727899032.841340034] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [component_container_isolated-1] [INFO] [1727899032.841392923] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [component_container_isolated-1] [INFO] [1727899032.842152182] [planner_server]: Planner Server has GridBased planners available. [component_container_isolated-1] [INFO] [1727899032.848076857] [lifecycle_manager_navigation]: Configuring behavior_server [component_container_isolated-1] [INFO] [1727899032.848270432] [behavior_server]: Configuring [component_container_isolated-1] [INFO] [1727899032.853722105] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [component_container_isolated-1] [INFO] [1727899032.854540294] [behavior_server]: Configuring spin [component_container_isolated-1] [INFO] [1727899032.859314723] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [component_container_isolated-1] [INFO] [1727899032.860148410] [behavior_server]: Configuring backup [component_container_isolated-1] [INFO] [1727899032.865435815] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [component_container_isolated-1] [INFO] [1727899032.866244618] [behavior_server]: Configuring drive_on_heading [component_container_isolated-1] [INFO] [1727899032.870881971] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [component_container_isolated-1] [INFO] [1727899032.871600385] [behavior_server]: Configuring wait [component_container_isolated-1] [INFO] [1727899032.875824005] [lifecycle_manager_localization]: Server amcl connected with bond. [component_container_isolated-1] [INFO] [1727899032.875853416] [lifecycle_manager_localization]: Managed nodes are active [component_container_isolated-1] [INFO] [1727899032.875828416] [lifecycle_manager_navigation]: Configuring bt_navigator [component_container_isolated-1] [INFO] [1727899032.875862086] [lifecycle_manager_localization]: Creating bond timer... [component_container_isolated-1] [INFO] [1727899032.875975840] [bt_navigator]: Configuring [component_container_isolated-1] [INFO] [1727899032.891211073] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 214 X 256 at 0.050000 m/pix [component_container_isolated-1] [INFO] [1727899032.903800221] [amcl]: createLaserObject [component_container_isolated-1] [INFO] [1727899032.923288530] [lifecycle_manager_navigation]: Configuring waypoint_follower [component_container_isolated-1] [INFO] [1727899032.923435685] [waypoint_follower]: Configuring [component_container_isolated-1] [INFO] [1727899032.931362379] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [component_container_isolated-1] [INFO] [1727899032.932283742] [lifecycle_manager_navigation]: Configuring velocity_smoother [component_container_isolated-1] [INFO] [1727899032.932404083] [velocity_smoother]: Configuring velocity smoother [component_container_isolated-1] [INFO] [1727899032.935226415] [lifecycle_manager_navigation]: Activating controller_server [component_container_isolated-1] [INFO] [1727899032.935376491] [controller_server]: Activating [component_container_isolated-1] [INFO] [1727899032.935418301] [local_costmap.local_costmap]: Activating [component_container_isolated-1] [INFO] [1727899032.935439583] [local_costmap.local_costmap]: Checking transform [component_container_isolated-1] [INFO] [1727899032.935550758] [local_costmap.local_costmap]: start [component_container_isolated-1] [INFO] [1727899033.136932468] [controller_server]: Creating bond (controller_server) to lifecycle manager. [component_container_isolated-1] [INFO] [1727899033.240432360] [lifecycle_manager_navigation]: Server controller_server connected with bond. [component_container_isolated-1] [INFO] [1727899033.240473557] [lifecycle_manager_navigation]: Activating smoother_server [component_container_isolated-1] [INFO] [1727899033.240658514] [smoother_server]: Activating [component_container_isolated-1] [INFO] [1727899033.240683282] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [component_container_isolated-1] [INFO] [1727899033.343336180] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [component_container_isolated-1] [INFO] [1727899033.343370702] [lifecycle_manager_navigation]: Activating planner_server [component_container_isolated-1] [INFO] [1727899033.343524965] [planner_server]: Activating [component_container_isolated-1] [INFO] [1727899033.343550876] [global_costmap.global_costmap]: Activating [component_container_isolated-1] [INFO] [1727899033.343558060] [global_costmap.global_costmap]: Checking transform [component_container_isolated-1] [INFO] [1727899033.343567050] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-1] [INFO] [1727899033.843621995] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-1] [INFO] [1727899034.343621973] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [component_container_isolated-1] [WARN] [1727899034.704663381] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose... [component_container_isolated-1] [INFO] [1727899034.843653365] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [rviz2-2] [INFO] [1727899035.107260791] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1727899032.890 for reason 'discarding message because the queue is full' [rviz2-2] [INFO] [1727899035.139189437] [rviz2]: Message Filter dropping message: frame 'odom' at time 1727899033.101 for reason 'discarding message because the queue is full' [rviz2-2] [INFO] [1727899035.299477332] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1727899033.090 for reason 'discarding message because the queue is full' [component_container_isolated-1] [INFO] [1727899035.343627291] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist ^Z [3]+ Stopped ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/maps/$1.yaml eepp@adams:~$
