View source for Navigation2 No Costmap 20241002

<pre>
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/$1.yaml
eepp@adams:~$ 

</pre>