[rcl.logging_rosout]: Publisher already registered for provided node name.

HuaYuXiao commented 9 months ago

[WARN] [1703083924.789427952] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.

tony@iqr-turtlebot4-121:~/EE211_ws/src/tb4_find_pickup_place$ /bin/python3 /home/tony/EE211_ws/src/tb4_find_pickup_place/navigation/pose_reach.py
[INFO] [1703213070.097758493] [basic_navigator]: amcl/get_state service not available, waiting...
[INFO] [1703213071.099617823] [basic_navigator]: amcl/get_state service not available, waiting...

HuaYuXiao commented 9 months ago

发现有多个节点重名：/basic_navigator、/camera/camera、/left_wheel_drop_stf、/modbus_rtu_driver_node、/right_wheel_drop_stf、/robot_state_publisher、/rplidar_node、/serial_bridge_node。

tony@iqr-turtlebot4-121:~$ ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/PanTiltDriverNode
/_internal/composite_hazard
/_internal/kinematics_engine
/_internal/mobility
/_internal/stasis
/amcl
/basic_navigator
/basic_navigator
/behavior_server
/bt_navigator
/camera/camera
/camera/camera
/controller_server
/global_costmap/global_costmap
/launch_ros_115920
/launch_ros_5354
/left_wheel_drop_stf
/left_wheel_drop_stf
/lifecycle_manager_localization
/lifecycle_manager_navigation
/local_costmap/local_costmap
/map_server
/mobility_monitor
/modbus_rtu_driver_node
/modbus_rtu_driver_node
/motion_control
/planner_server
/px100/xs_sdk
/right_wheel_drop_stf
/right_wheel_drop_stf
/robot_state
/robot_state_publisher
/robot_state_publisher
/rplidar_node
/rplidar_node
/rviz2
/rviz_navigation_dialog_action_client
/serial_bridge_node
/serial_bridge_node
/smoother_server
/static_transform
/system_health
/transform_listener_impl_55a2761238f0
/ui_mgr
/velocity_smoother
/waypoint_follower

HuaYuXiao commented 8 months ago

疑似/amcl节点被占用，该Bug并不能稳定复现。

参考教程：

HuaYuXiao / turtlebot4_navigation_and_arm_control

[rcl.logging_rosout]: Publisher already registered for provided node name. #6