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From wikidb
eepp@adams:logs$ more nav_life_20240908.txt TERMINAL 1 eepp@adams:~$ source scripts/bringup.sh [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-09-02 -16-03-34-196234-adams-3376 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [3377] [INFO] [hlds_laser_publisher-2]: process started with pid [3379] [INFO] [turtlebot3_ros-3]: process started with pid [3381] [hlds_laser_publisher-2] [INFO] [1725318214.318118679] [hlds_laser_publisher]: I nit hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1725318214.318183797] [hlds_laser_publisher]: p ort : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1725318214.318869548] [turtlebot3_node]: Init TurtleB ot3 Node Main [turtlebot3_ros-3] [INFO] [1725318214.319038819] [turtlebot3_node]: Init Dynamix elSDKWrapper [turtlebot3_ros-3] [INFO] [1725318214.319484195] [DynamixelSDKWrapper]: Succeede d to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1725318214.321135248] [DynamixelSDKWrapper]: Succeede d to change the baudrate! [robot_state_publisher-1] [INFO] [1725318214.324914448] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1725318214.325001613] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1725318214.325009819] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1725318214.325015799] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1725318214.325021236] [robot_state_publisher]: TERMINAL 2 eepp@adams:~$ ros2 run nav2_util lifecycle_bringup map_server [INFO] [1725318408.292720983] [map_server_lifecycle_client_85982605]: Waiting fo r service map_server/get_state... [INFO] [1725318410.292886627] [map_server_lifecycle_client_85982605]: Waiting fo r service map_server/get_state... [INFO] [1725318412.292984582] [map_server_lifecycle_client_85982605]: Waiting fo r service map_server/get_state... [INFO] [1725318414.293103591] [map_server_lifecycle_client_85982605]: Waiting fo r service map_server/get_state... [INFO] [1725318416.293225827] [map_server_lifecycle_client_85982605]: Waiting fo r service map_server/get_state... [INFO] [1725318418.293360331] [map_server_lifecycle_client_85982605]: Waiting fo r service map_server/get_state... eepp@adams:~$ eog maps/20240826first01.pgm & [1] 3895 eepp@adams:~$ TERMINAL 3 eepp@adams:~$ source scripts/nav2.sh 20240826first01 [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-09-02 -16-17-09-142409-adams-4086 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container_isolated-1]: process started with pid [4100] [INFO] [rviz2-2]: process started with pid [4102] [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFO RM=wayland to run on Wayland anyway. [rviz2-2] [INFO] [1725319030.868393816] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1725319030.868519195] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [component_container_isolated-1] [INFO] [1725319030.869669695] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so [rviz2-2] [INFO] [1725319030.879936585] [rviz2]: Stereo is NOT SUPPORTED [component_container_isolated-1] [INFO] [1725319030.888896691] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFil terInfoServer> [component_container_isolated-1] [INFO] [1725319030.889012880] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> [component_container_isolated-1] [INFO] [1725319030.889017681] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> [component_container_isolated-1] [INFO] [1725319030.889021129] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapS erver> [component_container_isolated-1] [INFO] [1725319030.897025044] [map_server]: [component_container_isolated-1] map_server lifecycle node launched. [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container' [component_container_isolated-1] Waiting on external lifecycle transition s to activate [component_container_isolated-1] See https://design.ros2.org/articles/nod e_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1725319030.897075789] [map_server]: Cre ating [component_container_isolated-1] [INFO] [1725319030.897451850] [map_server]: Con figuring [component_container_isolated-1] [INFO] [1725319030.897459968] [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] [1725319030.901209041] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::Controller Server> [component_container_isolated-1] [INFO] [1725319030.901242141] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::Cont rollerServer> [component_container_isolated-1] [DEBUG] [map_io]: Read map /home/eepp/maps/2024 0826first01.pgm: 214 X 256 map @ 0.05 m/cell [component_container_isolated-1] [INFO] [1725319030.906688595] [controller_serve r]: [component_container_isolated-1] controller_server lifecycle node launche d. [component_container_isolated-1] Waiting on external lifecycle transition s to activate [component_container_isolated-1] See https://design.ros2.org/articles/nod e_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1725319030.909095446] [controller_serve r]: Creating controller server [component_container_isolated-1] [INFO] [1725319030.909178402] [map_server]: Act ivating [component_container_isolated-1] [INFO] [1725319030.909326029] [map_server]: Cre ating bond (map_server) to lifecycle manager. [component_container_isolated-1] [INFO] [1725319030.915843114] [local_costmap.lo cal_costmap]: [component_container_isolated-1] local_costmap lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transition s to activate [component_container_isolated-1] See https://design.ros2.org/articles/nod e_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1725319030.916314156] [local_costmap.lo cal_costmap]: Creating Costmap [component_container_isolated-1] [INFO] [1725319030.917137696] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_serv er' in container '/nav2_container' [component_container_isolated-1] [INFO] [1725319030.918718525] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-1] [INFO] [1725319030.918747333] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode> [component_container_isolated-1] [INFO] [1725319030.924885694] [amcl]: [component_container_isolated-1] amcl lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transition s to activate [component_container_isolated-1] See https://design.ros2.org/articles/nod e_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1725319030.925313143] [amcl]: Creating [component_container_isolated-1] [INFO] [1725319030.927871481] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in contai ner '/nav2_container' [component_container_isolated-1] [INFO] [1725319030.929442048] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServ er> [component_container_isolated-1] [INFO] [1725319030.929497907] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::Smooth erServer> [component_container_isolated-1] [INFO] [1725319030.937233217] [smoother_server] : [component_container_isolated-1] smoother_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transition s to activate [component_container_isolated-1] See https://design.ros2.org/articles/nod e_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1725319030.938785520] [smoother_server] : Creating smoother server [component_container_isolated-1] [INFO] [1725319030.939418373] [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] [1725319030.940080288] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::Lif ecycleManager> [component_container_isolated-1] [INFO] [1725319030.940113252] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manage r::LifecycleManager> [component_container_isolated-1] [INFO] [1725319030.947087195] [lifecycle_manage r_localization]: Creating [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manag er_localization' in container '/nav2_container' [component_container_isolated-1] [INFO] [1725319030.949120763] [lifecycle_manage r_localization]: Creating and initializing lifecycle service clients [component_container_isolated-1] [INFO] [1725319030.949249396] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so [component_container_isolated-1] [INFO] [1725319030.950154457] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer > [component_container_isolated-1] [INFO] [1725319030.950185240] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::Planner Server> [component_container_isolated-1] [INFO] [1725319030.953586378] [lifecycle_manage r_localization]: Starting managed nodes bringup... [component_container_isolated-1] [INFO] [1725319030.953631840] [lifecycle_manage r_localization]: Configuring map_server [component_container_isolated-1] [WARN] [1725319030.953759778] [rcl_lifecycle]: No transition matching 1 found for current state active [component_container_isolated-1] [ERROR] [1725319030.953778262] [map_server]: Un able to start transition 1 from current state active: Transition is not register ed., at ./src/rcl_lifecycle.c:355 [component_container_isolated-1] [ERROR] [1725319030.953913532] [lifecycle_manag er_localization]: Failed to change state for node: map_server [component_container_isolated-1] [ERROR] [1725319030.953926121] [lifecycle_manag er_localization]: Failed to bring up all requested nodes. Aborting bringup. [component_container_isolated-1] [INFO] [1725319030.957646810] [planner_server]: [component_container_isolated-1] planner_server lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transition s to activate [component_container_isolated-1] See https://design.ros2.org/articles/nod e_lifecycle.html for more information. [component_container_isolated-1] [INFO] [1725319030.958709208] [planner_server]: Creating [component_container_isolated-1] [INFO] [1725319030.964651809] [global_costmap.g lobal_costmap]: [component_container_isolated-1] global_costmap lifecycle node launched. [component_container_isolated-1] Waiting on external lifecycle transition s to activate --More--(84%)
Processor Issue
eepp@adams:~$ cat logs/nav_cpu_issues20240904.txt searched for [amcl]: Original error: According to the loaded plugin descriptions the https://github.com/ros-navigation/navigation2/issues/3767 https://github.com/ros-navigation/navigation2/issues/3767 MPPI crashing on loading plug-ings #3767 eepp@adams:~$
