Hi, I have been trying to move my create3 to Zenoh according to this tutorial.. I need some guidance on how to debug the problem. I can run both localization and mapping (it seems really smooth from preliminary tests, I can shutdown and restart nodes without issues, something that was instead a struggle with other DDSes) and set initial poses. Teleop with keyboard and joystick works as well. Unfortunately I can not issue navigation goals (see the log below). In particular, my setup is the following. The create3 (C3) and the raspberry (PI) communicate with each other in their own ROS_DOMAIN. PI runs just the lidar node and the Zenoh bridge. Then I have a laptop (LP) with another ROS_DOMAIN running the other end of Zenoh and the nav2 stack. As I said both localization and slam run properly, while I get the following log which seems to report a crash when issuing a goal: both bt_navigator and planner_server crash as I can not seen the respective logs into the default ros folder (which is also confirmed by monitoring the transition_event of the respective nodes). The following lines reporting a crash after issuing a goal while the robot was localized, i.e. it was given a map and an initial pose set via Rviz (notice that the launch file below from the turtlebot4 workspace below seems to just call the nav2 stack with the given config file).
ros2 launch turtlebot4_navigation nav2.launch.py params_file:=my_nav_params.yaml
[bt_navigator-5] [INFO] [1704366876.797298707] [bt_navigator]: Begin navigating from current location (-1.42, 0.91) to (-0.82, 1.12)
[bt_navigator-5] terminate called after throwing an instance of 'std::runtime_error'
[bt_navigator-5] what(): Failed to accept new goal
[bt_navigator-5]
[planner_server-3] terminate called after throwing an instance of 'std::runtime_error'
[planner_server-3] what(): Failed to accept new goal
[planner_server-3]
[ERROR] [planner_server-3]: process has died [pid 13127, exit code -6, cmd '/opt/ros/humble/lib/nav2_planner/planner_server --ros-args --log-level info --ros-args -r __node:=planner_server -r __ns:=/ --params-file /tmp/launch_params_72khyo_8 -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [bt_navigator-5]: process has died [pid 13131, exit code -6, cmd '/opt/ros/humble/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level info --ros-args -r __node:=bt_navigator -r __ns:=/ --params-file /tmp/launch_params_72khyo_8 -r /tf:=tf -r /tf_static:=tf_static'].
The entire log can be seen below. Of course this is partial information, for example I am not attaching any Zenoh log as there are no particular warning/error. One thing that it is worth mentioning is that if I replace the “create3” part with a gazebo simulation, then the very same nodes (started with the very same launch file) on nav2 work. Should I try to compile the nav2 stack and debug it or do you want to see the zenoh output (although the goal issuing, to my understanding, should be internal to the laptop LP).
Thanks
ros2 launch turtlebot4_navigation nav2.launch.py params_file:=gajarda_zenoh_nav2_params.yaml
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [13123]
[INFO] [smoother_server-2]: process started with pid [13125]
[INFO] [planner_server-3]: process started with pid [13127]
[INFO] [behavior_server-4]: process started with pid [13129]
[INFO] [bt_navigator-5]: process started with pid [13131]
[INFO] [waypoint_follower-6]: process started with pid [13133]
[INFO] [velocity_smoother-7]: process started with pid [13135]
[INFO] [lifecycle_manager-8]: process started with pid [13137]
[waypoint_follower-6] [INFO] [1704366716.314794224] [waypoint_follower]:
[waypoint_follower-6] waypoint_follower lifecycle node launched.
[waypoint_follower-6] Waiting on external lifecycle transitions to activate
[waypoint_follower-6] See Managed nodes for more information.
[smoother_server-2] [INFO] [1704366716.316603690] [smoother_server]:
[smoother_server-2] smoother_server lifecycle node launched.
[smoother_server-2] Waiting on external lifecycle transitions to activate
[smoother_server-2] See Managed nodes for more information.
[waypoint_follower-6] [INFO] [1704366716.318202625] [waypoint_follower]: Creating
[planner_server-3] [INFO] [1704366716.327569008] [planner_server]:
[planner_server-3] planner_server lifecycle node launched.
[planner_server-3] Waiting on external lifecycle transitions to activate
[planner_server-3] See Managed nodes for more information.
[controller_server-1] [INFO] [1704366716.332603643] [controller_server]:
[controller_server-1] controller_server lifecycle node launched.
[smoother_server-2] [INFO] [1704366716.343435493] [smoother_server]: Creating smoother server
[controller_server-1] Waiting on external lifecycle transitions to activate
[controller_server-1] See Managed nodes for more information.
[velocity_smoother-7] [INFO] [1704366716.346581282] [velocity_smoother]:
[velocity_smoother-7] velocity_smoother lifecycle node launched.
[velocity_smoother-7] Waiting on external lifecycle transitions to activate
[velocity_smoother-7] See Managed nodes for more information.
[planner_server-3] [INFO] [1704366716.346858208] [planner_server]: Creating
[lifecycle_manager-8] [INFO] [1704366716.367493702] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-8] [INFO] [1704366716.370440195] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-3] [INFO] [1704366716.376651416] [global_costmap.global_costmap]:
[planner_server-3] global_costmap lifecycle node launched.
[planner_server-3] Waiting on external lifecycle transitions to activate
[planner_server-3] See Managed nodes for more information.
[planner_server-3] [INFO] [1704366716.393409093] [global_costmap.global_costmap]: Creating Costmap
[bt_navigator-5] [INFO] [1704366716.393458795] [bt_navigator]:
[bt_navigator-5] bt_navigator lifecycle node launched.
[bt_navigator-5] Waiting on external lifecycle transitions to activate
[bt_navigator-5] See Managed nodes for more information.
[bt_navigator-5] [INFO] [1704366716.393646010] [bt_navigator]: Creating
[behavior_server-4] [INFO] [1704366716.397523756] [behavior_server]:
[behavior_server-4] behavior_server lifecycle node launched.
[behavior_server-4] Waiting on external lifecycle transitions to activate
[behavior_server-4] See Managed nodes for more information.
[controller_server-1] [INFO] [1704366716.493858110] [controller_server]: Creating controller server
[controller_server-1] [INFO] [1704366716.538099279] [local_costmap.local_costmap]:
[controller_server-1] local_costmap lifecycle node launched.
[controller_server-1] Waiting on external lifecycle transitions to activate
[controller_server-1] See Managed nodes for more information.
[controller_server-1] [INFO] [1704366716.541952893] [local_costmap.local_costmap]: Creating Costmap
[lifecycle_manager-8] [INFO] [1704366716.629750492] [lifecycle_manager_navigation]: Starting managed nodes bringup…
[lifecycle_manager-8] [INFO] [1704366716.629820624] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-1] [INFO] [1704366716.630580543] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1704366716.630892845] [controller_server]: getting goal checker plugins…
[controller_server-1] [INFO] [1704366716.631083594] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1704366716.631142208] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1704366716.641606532] [local_costmap.local_costmap]: Using plugin “voxel_layer”
[controller_server-1] [INFO] [1704366716.677323300] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-1] [INFO] [1704366716.697019198] [local_costmap.local_costmap]: Initialized plugin “voxel_layer”
[controller_server-1] [INFO] [1704366716.697069590] [local_costmap.local_costmap]: Using plugin “inflation_layer”
[controller_server-1] [INFO] [1704366716.698746851] [local_costmap.local_costmap]: Initialized plugin “inflation_layer”
[controller_server-1] [INFO] [1704366716.709206300] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1704366716.711798970] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1704366716.712329608] [controller_server]: Controller Server has general_goal_checker goal checkers available.
[controller_server-1] [INFO] [1704366716.723385985] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1704366716.729127618] [controller_server]: Setting transform_tolerance to 1.000000
[controller_server-1] [INFO] [1704366716.758330666] [controller_server]: Using critic “RotateToGoal” (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1704366716.760164680] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.760815148] [controller_server]: Using critic “Oscillation” (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1704366716.761608979] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.761833646] [controller_server]: Using critic “BaseObstacle” (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1704366716.762200349] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.762422955] [controller_server]: Using critic “GoalAlign” (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1704366716.763068613] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.763275572] [controller_server]: Using critic “PathAlign” (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1704366716.763872864] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.764124724] [controller_server]: Using critic “PathDist” (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1704366716.764491149] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.764744668] [controller_server]: Using critic “GoalDist” (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1704366716.765198086] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1704366716.765268037] [controller_server]: Controller Server has FollowPath controllers available.
[controller_server-1] [WARN] [1704366716.775633524] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[controller_server-1] [ERROR] [1704366716.775692910] [controller_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366716.776528039] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-2] [INFO] [1704366716.777107883] [smoother_server]: Configuring smoother server
[smoother_server-2] [INFO] [1704366716.787524808] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-2] [INFO] [1704366716.791209167] [smoother_server]: Smoother Server has simple_smoother smoothers available.
[smoother_server-2] [WARN] [1704366716.798150100] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[smoother_server-2] [ERROR] [1704366716.798248842] [smoother_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366716.798648655] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-3] [INFO] [1704366716.799165956] [planner_server]: Configuring
[planner_server-3] [INFO] [1704366716.799210044] [global_costmap.global_costmap]: Configuring
[planner_server-3] [INFO] [1704366716.802933236] [global_costmap.global_costmap]: Using plugin “static_layer”
[planner_server-3] [INFO] [1704366716.808730688] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-3] [INFO] [1704366716.809999999] [global_costmap.global_costmap]: Initialized plugin “static_layer”
[planner_server-3] [INFO] [1704366716.810032362] [global_costmap.global_costmap]: Using plugin “obstacle_layer”
[planner_server-3] [INFO] [1704366716.812258054] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-3] [INFO] [1704366716.822172843] [global_costmap.global_costmap]: Initialized plugin “obstacle_layer”
[planner_server-3] [INFO] [1704366716.822235073] [global_costmap.global_costmap]: Using plugin “inflation_layer”
[planner_server-3] [INFO] [1704366716.824485466] [global_costmap.global_costmap]: Initialized plugin “inflation_layer”
[planner_server-3] [INFO] [1704366716.836578968] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-3] [INFO] [1704366716.836644597] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-3] [INFO] [1704366716.837628904] [planner_server]: Planner Server has GridBased planners available.
[planner_server-3] [INFO] [1704366716.838834928] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 265 X 278 at 0.100000 m/pix
[planner_server-3] [WARN] [1704366716.848111505] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[planner_server-3] [ERROR] [1704366716.848144798] [planner_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366716.848741891] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-4] [INFO] [1704366716.849117029] [behavior_server]: Configuring
[behavior_server-4] [INFO] [1704366716.858014259] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-4] [INFO] [1704366716.860813439] [behavior_server]: Configuring spin
[behavior_server-4] [INFO] [1704366716.868029845] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-4] [INFO] [1704366716.870497293] [behavior_server]: Configuring backup
[behavior_server-4] [INFO] [1704366716.875263314] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-4] [INFO] [1704366716.877587388] [behavior_server]: Configuring drive_on_heading
[behavior_server-4] [INFO] [1704366716.881973473] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-4] [INFO] [1704366716.887136058] [behavior_server]: Configuring assisted_teleop
[behavior_server-4] [INFO] [1704366716.895173146] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-4] [INFO] [1704366716.897335843] [behavior_server]: Configuring wait
[behavior_server-4] [WARN] [1704366716.902538044] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[behavior_server-4] [ERROR] [1704366716.902568229] [behavior_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366716.902899425] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-5] [INFO] [1704366716.903551478] [bt_navigator]: Configuring
[bt_navigator-5] [WARN] [1704366717.041420951] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[bt_navigator-5] [ERROR] [1704366717.041464013] [bt_navigator]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366717.041919655] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-6] [INFO] [1704366717.042493139] [waypoint_follower]: Configuring
[waypoint_follower-6] [INFO] [1704366717.056461693] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[waypoint_follower-6] [WARN] [1704366717.058272717] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[waypoint_follower-6] [ERROR] [1704366717.058330687] [waypoint_follower]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366717.059429180] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-7] [INFO] [1704366717.060119228] [velocity_smoother]: Configuring velocity smoother
[velocity_smoother-7] [WARN] [1704366717.064143435] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[velocity_smoother-7] [ERROR] [1704366717.064180636] [velocity_smoother]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366717.065190147] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1704366717.065675957] [controller_server]: Activating
[controller_server-1] [INFO] [1704366717.065732579] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1704366717.065752995] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1704366717.065885405] [local_costmap.local_costmap]: start
[controller_server-1] [INFO] [1704366717.316477549] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[controller_server-1] [WARN] [1704366717.319186312] [rcl_lifecycle]: No transition matching 3 found for current state active
[controller_server-1] [ERROR] [1704366717.319235530] [controller_server]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366717.421192559] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-8] [INFO] [1704366717.421294118] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-2] [INFO] [1704366717.422050820] [smoother_server]: Activating
[smoother_server-2] [INFO] [1704366717.422130395] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[smoother_server-2] [WARN] [1704366717.424905487] [rcl_lifecycle]: No transition matching 3 found for current state active
[smoother_server-2] [ERROR] [1704366717.424955376] [smoother_server]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366717.531199665] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-8] [INFO] [1704366717.531355739] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-3] [INFO] [1704366717.532618957] [planner_server]: Activating
[planner_server-3] [INFO] [1704366717.532806261] [global_costmap.global_costmap]: Activating
[planner_server-3] [INFO] [1704366717.532880515] [global_costmap.global_costmap]: Checking transform
[planner_server-3] [INFO] [1704366717.533745681] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1704366717.460749 but the earliest data is at time 1704366717.742368, when looking up transform from frame [base_link] to frame [map]
[planner_server-3] [INFO] [1704366718.033343453] [global_costmap.global_costmap]: start
[planner_server-3] [INFO] [1704366719.085085992] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-3] [INFO] [1704366719.088674872] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[planner_server-3] [WARN] [1704366719.098425337] [rcl_lifecycle]: No transition matching 3 found for current state active
[planner_server-3] [ERROR] [1704366719.098527875] [planner_server]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366719.204439374] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-8] [INFO] [1704366719.204519229] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-4] [INFO] [1704366719.205099376] [behavior_server]: Activating
[behavior_server-4] [INFO] [1704366719.205164774] [behavior_server]: Activating spin
[behavior_server-4] [INFO] [1704366719.205202705] [behavior_server]: Activating backup
[behavior_server-4] [INFO] [1704366719.205241782] [behavior_server]: Activating drive_on_heading
[behavior_server-4] [INFO] [1704366719.205271327] [behavior_server]: Activating assisted_teleop
[behavior_server-4] [INFO] [1704366719.205295882] [behavior_server]: Activating wait
[behavior_server-4] [INFO] [1704366719.205325148] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[behavior_server-4] [WARN] [1704366719.207742690] [rcl_lifecycle]: No transition matching 3 found for current state active
[behavior_server-4] [ERROR] [1704366719.207779578] [behavior_server]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366719.311873019] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-8] [INFO] [1704366719.312016914] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-5] [INFO] [1704366719.314501779] [bt_navigator]: Activating
[bt_navigator-5] [INFO] [1704366719.458310336] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[bt_navigator-5] [WARN] [1704366719.462304981] [rcl_lifecycle]: No transition matching 3 found for current state active
[bt_navigator-5] [ERROR] [1704366719.462333484] [bt_navigator]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366719.563888821] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-8] [INFO] [1704366719.563946070] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-6] [INFO] [1704366719.564506477] [waypoint_follower]: Activating
[waypoint_follower-6] [INFO] [1704366719.564550663] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[waypoint_follower-6] [WARN] [1704366719.566636233] [rcl_lifecycle]: No transition matching 3 found for current state active
[waypoint_follower-6] [ERROR] [1704366719.566663717] [waypoint_follower]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366719.668510495] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-8] [INFO] [1704366719.668686276] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-7] [INFO] [1704366719.670495889] [velocity_smoother]: Activating
[velocity_smoother-7] [INFO] [1704366719.670731568] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[velocity_smoother-7] [WARN] [1704366719.676152546] [rcl_lifecycle]: No transition matching 3 found for current state active
[velocity_smoother-7] [ERROR] [1704366719.676245551] [velocity_smoother]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366719.785376929] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-8] [INFO] [1704366719.785523675] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-8] [INFO] [1704366719.785594080] [lifecycle_manager_navigation]: Creating bond timer…
[bt_navigator-5] [INFO] [1704366876.797298707] [bt_navigator]: Begin navigating from current location (-1.42, 0.91) to (-0.82, 1.12)
[bt_navigator-5] terminate called after throwing an instance of ‘std::runtime_error’
[bt_navigator-5] what(): Failed to accept new goal
[bt_navigator-5]
[planner_server-3] terminate called after throwing an instance of ‘std::runtime_error’
[planner_server-3] what(): Failed to accept new goal
[planner_server-3]
[ERROR] [planner_server-3]: process has died [pid 13127, exit code -6, cmd ‘/opt/ros/humble/lib/nav2_planner/planner_server --ros-args --log-level info --ros-args -r __node:=planner_server -r __ns:=/ --params-file /tmp/launch_params_72khyo_8 -r /tf:=tf -r /tf_static:=tf_static’].
[ERROR] [bt_navigator-5]: process has died [pid 13131, exit code -6, cmd ‘/opt/ros/humble/lib/nav2_bt_navigator/bt_navigator --ros-args --log-level info --ros-args -r __node:=bt_navigator -r __ns:=/ --params-file /tmp/launch_params_72khyo_8 -r /tf:=tf -r /tf_static:=tf_static’].
[lifecycle_manager-8] [INFO] [1704366880.786774589] [lifecycle_manager_navigation]: Have not received a heartbeat from bt_navigator.
[lifecycle_manager-8] [ERROR] [1704366880.786871740] [lifecycle_manager_navigation]: CRITICAL FAILURE: SERVER bt_navigator IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
[lifecycle_manager-8] [INFO] [1704366880.786933617] [lifecycle_manager_navigation]: Terminating bond timer…
[lifecycle_manager-8] [INFO] [1704366880.786969796] [lifecycle_manager_navigation]: Resetting managed nodes…
[lifecycle_manager-8] [INFO] [1704366880.787002476] [lifecycle_manager_navigation]: Deactivating velocity_smoother
[velocity_smoother-7] [INFO] [1704366880.787744977] [velocity_smoother]: Deactivating
[velocity_smoother-7] [INFO] [1704366880.787839263] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[velocity_smoother-7] [WARN] [1704366881.890939777] [rcl_lifecycle]: No transition matching 4 found for current state inactive
[velocity_smoother-7] [ERROR] [1704366881.890981629] [velocity_smoother]: Unable to start transition 4 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366881.892149027] [lifecycle_manager_navigation]: Deactivating waypoint_follower
[waypoint_follower-6] [INFO] [1704366881.893056012] [waypoint_follower]: Deactivating
[waypoint_follower-6] [INFO] [1704366881.893114166] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[waypoint_follower-6] [WARN] [1704366882.996284253] [rcl_lifecycle]: No transition matching 4 found for current state inactive
[waypoint_follower-6] [ERROR] [1704366882.996372656] [waypoint_follower]: Unable to start transition 4 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-8] [INFO] [1704366882.998859136] [lifecycle_manager_navigation]: Deactivating bt_navigator
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[velocity_smoother-7] [INFO] [1704366931.393272407] [rclcpp]: signal_handler(signum=2)
[velocity_smoother-7] [INFO] [1704366931.393630009] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)
[velocity_smoother-7] [INFO] [1704366931.393950501] [velocity_smoother]: Cleaning up
[velocity_smoother-7] [INFO] [1704366931.394158368] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[smoother_server-2] [INFO] [1704366931.393220067] [rclcpp]: signal_handler(signum=2)
[smoother_server-2] [INFO] [1704366931.393617787] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server)
[smoother_server-2] [INFO] [1704366931.393944330] [smoother_server]: Deactivating
[smoother_server-2] [INFO] [1704366931.394074017] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[behavior_server-4] [INFO] [1704366931.393272400] [rclcpp]: signal_handler(signum=2)
[behavior_server-4] [INFO] [1704366931.393807093] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[behavior_server-4] [INFO] [1704366931.394086180] [behavior_server]: Deactivating
[behavior_server-4] [INFO] [1704366931.394275765] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1704366931.393287934] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-8] [INFO] [1704366931.393617795] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation)
[waypoint_follower-6] [INFO] [1704366931.393284970] [rclcpp]: signal_handler(signum=2)
[waypoint_follower-6] [INFO] [1704366931.393658216] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)
[waypoint_follower-6] [INFO] [1704366931.393965016] [waypoint_follower]: Cleaning up
[controller_server-1] [INFO] [1704366931.393529109] [rclcpp]: signal_handler(signum=2)
[controller_server-1] [INFO] [1704366931.393799260] [local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)
[controller_server-1] [INFO] [1704366931.394087238] [local_costmap.local_costmap]: Deactivating
[velocity_smoother-7] [INFO] [1704366931.399303646] [velocity_smoother]: Destroying
[smoother_server-2] [INFO] [1704366931.405061603] [smoother_server]: Cleaning up
[behavior_server-4] [INFO] [1704366931.405877781] [behavior_server]: Cleaning up
[waypoint_follower-6] [INFO] [1704366931.407213318] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[waypoint_follower-6] [INFO] [1704366931.419365367] [waypoint_follower]: Destroying
[behavior_server-4] [INFO] [1704366931.420235413] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[smoother_server-2] [INFO] [1704366931.434778418] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[controller_server-1] [INFO] [1704366931.466045274] [local_costmap.local_costmap]: Cleaning up
[controller_server-1] [INFO] [1704366931.471039564] [local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager.
[controller_server-1] [INFO] [1704366931.471073738] [controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server)
[controller_server-1] [INFO] [1704366931.471094068] [controller_server]: Deactivating
[controller_server-1] [INFO] [1704366931.471122498] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[behavior_server-4] [INFO] [1704366931.477565360] [behavior_server]: Destroying
[controller_server-1] [INFO] [1704366931.481285273] [controller_server]: Cleaning up
[smoother_server-2] [INFO] [1704366931.528127287] [smoother_server]: Destroying
[INFO] [waypoint_follower-6]: process has finished cleanly [pid 13133]
[INFO] [velocity_smoother-7]: process has finished cleanly [pid 13135]
[INFO] [behavior_server-4]: process has finished cleanly [pid 13129]
[INFO] [smoother_server-2]: process has finished cleanly [pid 13125]
[controller_server-1] [INFO] [1704366933.503806085] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[controller_server-1] [INFO] [1704366933.506382198] [local_costmap.local_costmap]: Destroying
[controller_server-1] [INFO] [1704366933.527675357] [controller_server]: Destroying
[INFO] [controller_server-1]: process has finished cleanly [pid 13123]
[ERROR] [lifecycle_manager-8]: process[lifecycle_manager-8] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’
[INFO] [lifecycle_manager-8]: sending signal ‘SIGTERM’ to process[lifecycle_manager-8]
[lifecycle_manager-8] [INFO] [1704366936.419570464] [rclcpp]: signal_handler(signum=15)
[ERROR] [lifecycle_manager-8]: process[lifecycle_manager-8] failed to terminate ‘10.0’ seconds after receiving ‘SIGTERM’, escalating to ‘SIGKILL’
[INFO] [lifecycle_manager-8]: sending signal ‘SIGKILL’ to process[lifecycle_manager-8]
[ERROR] [lifecycle_manager-8]: process has died [pid 13137, exit code -9, cmd ‘/opt/ros/humble/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args --log-level info --ros-args -r __node:=lifecycle_manager_navigation -r __ns:=/ --params-file /tmp/launch_params_eer27n60 --params-file /tmp/launch_params_2p2g6_6l --params-file /tmp/launch_params__8f0ytvx’].