8ijuu
commented
5 months ago
Open 8ijuu opened 5 months ago
8ijuu
commented
5 months ago
PepeOjeda
commented
5 months ago You can try to debug the TF situation by viewing the TF tree with ros2 run tf2_tools view_frames . It should show you if there is a connection missing between any frames.
That said, the problem is most likely to do with Coppelia, as it is reponsible for the map->odom->base_link TFs. If you are having a lot of trouble with it, I would suggest maybe trying another robot simulator (for example, BasicSim) to handle the TFs and robot movement. Gaden does not have automatic scene generation for BasicSim, but it should be pretty easy to do manually by looking at the examples in the repo.
mrayh001
commented
3 months ago Hi ,
I am also facing same issue. I am using the same coppeliasim: CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu22_04
is there any update to this?or do you recommend another Coppeliasim version?
Or is there any other way to debug this?
PepeOjeda
commented
3 months ago As first debugging step, I would recommend making sure you are not getting any errors on coppelia itself, and that the correct scene (the one generated by gaden) is playing, as the TFs are published from a script in that scene. To do that, set the "headless" parameter to false in the launch file.
In any case, in the next update to gaden I will probably add built-in support for BasicSim and start phasing out coppelia, since it seems to be causing quite a bit of trouble and I don't particularly like working with it.
XSY159
commented
2 months ago I also encountered the same problem, have you solved it?
I encountered the following issue when running ros2 launch test_env main_simbot_launch.py: ros2 launch test_env main_simbot_launch.py [INFO] [launch]: All log files can be found below /home/gouqin/.ros/log/2024-04-07-11-58-04-904422-gouqin-virtual-machine-10573 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [10574] [INFO] [xterm-2]: process started with pid [10576] [INFO] [environment-3]: process started with pid [10578] [INFO] [player-4]: process started with pid [10580] [INFO] [coppelia_simulator-5]: process started with pid [10582] [INFO] [simulated_anemometer-6]: process started with pid [10584] [INFO] [static_transform_publisher-7]: process started with pid [10621] [INFO] [simulated_gas_sensor-8]: process started with pid [10625] [INFO] [static_transform_publisher-9]: process started with pid [10640] [INFO] [map_server-10]: process started with pid [10647] [INFO] [bt_navigator-11]: process started with pid [10662] [INFO] [planner_server-12]: process started with pid [10679] [INFO] [controller_server-13]: process started with pid [10681] [INFO] [behavior_server-14]: process started with pid [10685] [INFO] [lifecycle_manager-15]: process started with pid [10687] [robot_state_publisher-1] [INFO] [1712462285.284175971] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_base_link [robot_state_publisher-1] [INFO] [1712462285.284288396] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_body [robot_state_publisher-1] [INFO] [1712462285.284304591] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_green_button [robot_state_publisher-1] [INFO] [1712462285.284312715] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_head [robot_state_publisher-1] [INFO] [1712462285.284320115] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_hokuyo_front [robot_state_publisher-1] [INFO] [1712462285.284327334] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_left_wheel [robot_state_publisher-1] [INFO] [1712462285.284334148] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_neck [robot_state_publisher-1] [INFO] [1712462285.284340843] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_red_button [robot_state_publisher-1] [INFO] [1712462285.284347665] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_right_wheel [robot_state_publisher-1] [INFO] [1712462285.284354347] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_screen [player-4] [INFO] [1712462285.266799002] [gaden_player]: Initializing 1 instances [coppelia_simulator-5] [INFO] [1712462285.276154144] [coppelia_simulator]: coppelia_root_dir: /home/gouqin/CoppeliaSim_Pro_V4_5_1_rev4_Ubuntu22_04/ [coppelia_simulator-5] [INFO] [1712462285.276249634] [coppelia_simulator]: coppelia_scene_path: /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/coppeliaScene.ttt [coppelia_simulator-5] [INFO] [1712462285.276264293] [coppelia_simulator]: coppelia_headless: 0 [coppelia_simulator-5] [WARN] [1712462285.276341068] [coppelia_simulator]: Running coppelia with command: [coppelia_simulator-5] /home/gouqin/CoppeliaSim_Pro_V4_5_1_rev4_Ubuntu22_04/coppeliaSim.sh coppeliaSim /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/coppeliaScene.ttt -s -vwarnings & [coppelia_simulator-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [simulated_anemometer-6] [INFO] [1712462285.314613444] [fake_anemometer]: wind noise: 0.300000 [simulated_anemometer-6] [ERROR] [1712462285.338933448] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [static_transform_publisher-7] [WARN] [1712462285.282443997] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-7] [INFO] [1712462285.342206753] [anemometer_tf_pub]: Spinning until stopped - publishing transform [static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.500000') [static_transform_publisher-7] rotation: ('1.000000', '0.000000', '0.000000', '0.000000') [static_transform_publisher-7] from 'PioneerP3DX_base_link' to 'PioneerP3DX_anemometer_frame' [static_transform_publisher-9] [WARN] [1712462285.310978995] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-9] [INFO] [1712462285.380241001] [pid_tf_pub]: Spinning until stopped - publishing transform [static_transform_publisher-9] translation: ('0.000000', '0.000000', '0.500000') [static_transform_publisher-9] rotation: ('1.000000', '0.000000', '0.000000', '0.000000') [static_transform_publisher-9] from 'PioneerP3DX_base_link' to 'PioneerP3DX_pid_frame' [simulated_gas_sensor-8] [INFO] [1712462285.413706021] [fake_pid]: The data provided in the roslaunch file is: [simulated_gas_sensor-8] [INFO] [1712462285.413852107] [fake_pid]: Sensor model: 30 [simulated_gas_sensor-8] [INFO] [1712462285.413871680] [fake_pid]: Fixed frame: map [simulated_gas_sensor-8] [INFO] [1712462285.413879838] [fake_pid]: Sensor frame: PioneerP3DX_pid_frame [simulated_gas_sensor-8] [INFO] [1712462285.413887579] [fake_pid]: Running at 10.000000Hz [simulated_gas_sensor-8] [ERROR] [1712462285.449524307] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [map_server-10] [INFO] [1712462285.544061872] [PioneerP3DX.map_server]: [map_server-10] map_server lifecycle node launched. [map_server-10] Waiting on external lifecycle transitions to activate [map_server-10] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1712462285.631461923] [PioneerP3DX.planner_server]: [planner_server-12] planner_server lifecycle node launched. [planner_server-12] Waiting on external lifecycle transitions to activate [planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-11] [INFO] [1712462285.689723541] [PioneerP3DX.bt_navigator]: [bt_navigator-11] bt_navigator lifecycle node launched. [bt_navigator-11] Waiting on external lifecycle transitions to activate [bt_navigator-11] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[coppelia_simulator-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [lifecycle_manager-15] [INFO] [1712462285.709920588] [PioneerP3DX.lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [behavior_server-14] [INFO] [1712462285.720021828] [PioneerP3DX.behavior_server]: [behavior_server-14] behavior_server lifecycle node launched. [behavior_server-14] Waiting on external lifecycle transitions to activate [behavior_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-13] [INFO] [1712462285.772404462] [PioneerP3DX.controller_server]: [controller_server-13] controller_server lifecycle node launched. [controller_server-13] Waiting on external lifecycle transitions to activate [controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-12] [INFO] [1712462285.780030926] [PioneerP3DX.global_costmap.global_costmap]: [planner_server-12] global_costmap lifecycle node launched. [planner_server-12] Waiting on external lifecycle transitions to activate [planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-12] [INFO] [1712462285.780670291] [PioneerP3DX.global_costmap.global_costmap]: Creating Costmap [controller_server-13] [INFO] [1712462285.784930953] [PioneerP3DX.controller_server]: Creating controller server [controller_server-13] [INFO] [1712462285.833482098] [PioneerP3DX.local_costmap.local_costmap]: [controller_server-13] local_costmap lifecycle node launched. [controller_server-13] Waiting on external lifecycle transitions to activate [controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-13] [INFO] [1712462285.834232185] [PioneerP3DX.local_costmap.local_costmap]: Creating Costmap [simulated_anemometer-6] [ERROR] [1712462286.340709849] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462286.453331927] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [lifecycle_manager-15] [INFO] [1712462286.476817226] [PioneerP3DX.lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-15] [INFO] [1712462286.477052447] [PioneerP3DX.lifecycle_manager_navigation]: Configuring map_server
[map_server-10] [INFO] [map_io]: Loading yaml file: /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/occupancy.yaml [map_server-10] [DEBUG] [map_io]: resolution: 0.01
[map_server-10] [DEBUG] [map_io]: free_thresh: 0.1 [map_server-10] [DEBUG] [map_io]: occupied_thresh: 0.9 [map_server-10] [DEBUG] [map_io]: mode: trinary [map_server-10] [DEBUG] [map_io]: negate: 0 [map_server-10] [INFO] [map_io]: Loading image_file: /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/occupancy.pgm [map_server-10] [DEBUG] [map_io]: Read map /home/gouqin/gaden/install/test_env/share/test_env/scenarios/10x6_empty_room/occupancy.pgm: 1040 X 640 map @ 0.01 m/cell [lifecycle_manager-15] [INFO] [1712462286.586990683] [PioneerP3DX.lifecycle_manager_navigation]: Configuring planner_server
[planner_server-12] [INFO] [1712462286.597632419] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-12] [INFO] [1712462286.603671339] [PioneerP3DX.global_costmap.global_costmap]: Subscribing to the map topic (/PioneerP3DX/map) with transient local durability [planner_server-12] [INFO] [1712462286.605849722] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-12] [INFO] [1712462286.605892029] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-12] [INFO] [1712462286.608248254] [PioneerP3DX.global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-12] [INFO] [1712462286.618473958] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-12] [INFO] [1712462286.618527690] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-12] [INFO] [1712462286.620390518] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-12] [INFO] [1712462286.635553829] [PioneerP3DX.planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-12] [INFO] [1712462286.635612092] [PioneerP3DX.planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-12] [INFO] [1712462286.637476089] [PioneerP3DX.planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-15] [INFO] [1712462286.660113851] [PioneerP3DX.lifecycle_manager_navigation]: Configuring controller_server [controller_server-13] [INFO] [1712462286.661770336] [PioneerP3DX.controller_server]: Configuring controller interface [controller_server-13] [INFO] [1712462286.662053053] [PioneerP3DX.controller_server]: getting goal checker plugins.. [controller_server-13] [INFO] [1712462286.662169112] [PioneerP3DX.controller_server]: Controller frequency set to 20.0000Hz
[controller_server-13] [INFO] [1712462286.672915509] [PioneerP3DX.local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-13] [INFO] [1712462286.678311084] [PioneerP3DX.local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-13] [INFO] [1712462286.698502140] [PioneerP3DX.local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-13] [INFO] [1712462286.698553024] [PioneerP3DX.local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-13] [INFO] [1712462286.700393761] [PioneerP3DX.local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-13] [INFO] [1712462286.717429603] [PioneerP3DX.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-13] [INFO] [1712462286.717968756] [PioneerP3DX.controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-13] [INFO] [1712462286.718157958] [PioneerP3DX.controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-13] [INFO] [1712462286.719995571] [PioneerP3DX.controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-13] [INFO] [1712462286.722692556] [PioneerP3DX.controller_server]: Setting transform_tolerance to 0.200000 [controller_server-13] [INFO] [1712462286.740989829] [PioneerP3DX.controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-13] [INFO] [1712462286.741876947] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.742072238] [PioneerP3DX.controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-13] [INFO] [1712462286.742455573] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.742552856] [PioneerP3DX.controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-13] [INFO] [1712462286.742701945] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.742770947] [PioneerP3DX.controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-13] [INFO] [1712462286.742978632] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.743058394] [PioneerP3DX.controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-13] [INFO] [1712462286.743234460] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.743311298] [PioneerP3DX.controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-13] [INFO] [1712462286.743491770] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.743570235] [PioneerP3DX.controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-13] [INFO] [1712462286.743729497] [PioneerP3DX.controller_server]: Critic plugin initialized [controller_server-13] [INFO] [1712462286.743746869] [PioneerP3DX.controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-15] [INFO] [1712462286.758426705] [PioneerP3DX.lifecycle_manager_navigation]: Configuring bt_navigator
[lifecycle_manager-15] [INFO] [1712462286.847958168] [PioneerP3DX.lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-14] [INFO] [1712462286.867708603] [PioneerP3DX.behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-14] [INFO] [1712462286.868701579] [PioneerP3DX.behavior_server]: Configuring spin [behavior_server-14] [INFO] [1712462286.884329043] [PioneerP3DX.behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-14] [INFO] [1712462286.885195640] [PioneerP3DX.behavior_server]: Configuring backup [behavior_server-14] [INFO] [1712462286.900180166] [PioneerP3DX.behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-14] [INFO] [1712462286.901265440] [PioneerP3DX.behavior_server]: Configuring drive_on_heading [behavior_server-14] [INFO] [1712462286.917033706] [PioneerP3DX.behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-14] [INFO] [1712462286.921918935] [PioneerP3DX.behavior_server]: Configuring assisted_teleop [behavior_server-14] [INFO] [1712462286.942379399] [PioneerP3DX.behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-14] [INFO] [1712462286.943205900] [PioneerP3DX.behavior_server]: Configuring wait [lifecycle_manager-15] [INFO] [1712462286.958697196] [PioneerP3DX.lifecycle_manager_navigation]: Activating map_server
[map_server-10] [INFO] [1712462286.960061299] [PioneerP3DX.map_server]: Creating bond (map_server) to lifecycle manager. [planner_server-12] [INFO] [1712462286.972403882] [PioneerP3DX.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 1040 X 640 at 0.010000 m/pix [lifecycle_manager-15] [INFO] [1712462287.068265214] [PioneerP3DX.lifecycle_manager_navigation]: Server map_server connected with bond. [lifecycle_manager-15] [INFO] [1712462287.068338100] [PioneerP3DX.lifecycle_manager_navigation]: Activating planner_server
[planner_server-12] [INFO] [1712462287.070193731] [PioneerP3DX.global_costmap.global_costmap]: Checking transform [planner_server-12] [INFO] [1712462287.070214367] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462287.341715419] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462287.453737200] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462287.570620653] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462288.070898392] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462288.342421840] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462288.454875279] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462288.570901598] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [coppelia_simulator-5] [CoppeliaSimClient] loading the CoppeliaSim library... [coppelia_simulator-5] [CoppeliaSimClient] done. [coppelia_simulator-5] 2024-04-07 11:58:08.994 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal [planner_server-12] [INFO] [1712462289.070517635] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462289.343558132] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462289.456688896] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462289.570994887] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462290.071207111] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462290.344673269] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462290.457639864] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462290.570455418] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462291.070688074] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462291.345732576] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462291.458023102] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462291.572867632] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462292.070317491] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462292.346882963] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462292.459109223] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462292.570252066] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462293.070423695] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462293.350455276] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462293.460945201] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462293.570651378] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462294.073245092] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462294.351765492] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462294.462510099] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462294.570423777] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462295.070640614] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462295.352971452] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462295.463914482] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462295.570448512] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462296.070778971] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462296.353944356] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462296.465170876] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462296.570509080] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462297.070821369] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462297.355179997] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462297.465630339] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462297.570647967] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462298.074649485] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462298.356172047] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462298.466990592] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462298.570725824] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462299.070962736] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462299.358027877] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462299.468239778] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. [planner_server-12] [INFO] [1712462299.570442243] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [planner_server-12] [INFO] [1712462300.071034547] [PioneerP3DX.global_costmap.global_costmap]: Timed out waiting for transform from PioneerP3DX_base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [simulated_anemometer-6] [ERROR] [1712462300.359007973] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist. [simulated_gas_sensor-8] [ERROR] [1712462300.469063253] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[lifecycle_manager-15] [INFO] [1712462300.523394731] [PioneerP3DX.lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) [ERROR] [xterm-2]: process has died [pid 10576, exit code 2, cmd 'xterm -hold -e /opt/ros/humble/lib/rviz2/rviz2 -d/home/gouqin/gaden/install/test_env/share/test_env/launch/gaden.rviz --ros-args -r __node:=rviz2 -r /initialpose:=/PioneerP3DX/initialpose -r /goal_pose:=/PioneerP3DX/goal_pose'].
[bt_navigator-11] [INFO] [1712462300.525173059] [PioneerP3DX.bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator) [bt_navigator-11] [INFO] [1712462300.525221357] [PioneerP3DX.bt_navigator]: Cleaning up
[controller_server-13] [INFO] [1712462300.523396636] [PioneerP3DX.local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap) [controller_server-13] [INFO] [1712462300.523462898] [PioneerP3DX.local_costmap.local_costmap]: Cleaning up
[simulated_gas_sensor-8] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [simulated_gas_sensor-8] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[map_server-10] [INFO] [1712462300.524966589] [PioneerP3DX.map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[map_server-10] [INFO] [1712462300.525056584] [PioneerP3DX.map_server]: Destroying bond (map_server) to lifecycle manager.
[simulated_anemometer-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [simulated_anemometer-6] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[behavior_server-14] [INFO] [1712462300.524984069] [PioneerP3DX.behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server) [behavior_server-14] [INFO] [1712462300.525089339] [PioneerP3DX.behavior_server]: Cleaning up
[planner_server-12] [INFO] [1712462300.524913634] [PioneerP3DX.global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap) [planner_server-12] [INFO] [1712462300.524955352] [PioneerP3DX.global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager. [planner_server-12] [INFO] [1712462300.524960954] [PioneerP3DX.planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server) [planner_server-12] [INFO] [1712462300.524994009] [PioneerP3DX.planner_server]: Destroying bond (planner_server) to lifecycle manager.
[planner_server-12] [ERROR] [1712462300.526369400] [PioneerP3DX.global_costmap.global_costmap]: Caught exception in callback for transition 13 [planner_server-12] [ERROR] [1712462300.526373645] [PioneerP3DX.global_costmap.global_costmap]: Original error: could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428 [planner_server-12] [ERROR] [1712462300.526384573] [PioneerP3DX.global_costmap.global_costmap]: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368) [planner_server-12] [INFO] [1712462300.526390329] [PioneerP3DX.planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-12] [ERROR] [1712462300.526443625] [PioneerP3DX.planner_server]: Caught exception in callback for transition 13 [planner_server-12] [ERROR] [1712462300.526446416] [PioneerP3DX.planner_server]: Original error: could not create service: rcl node's context is invalid, at ./src/rcl/node.c:428 [planner_server-12] [ERROR] [1712462300.526450171] [PioneerP3DX.planner_server]: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368) [planner_server-12] [INFO] [1712462300.530533351] [PioneerP3DX.planner_server]: Destroying plugin GridBased of type NavfnPlanner
[map_server-10] [INFO] [1712462300.535556120] [PioneerP3DX.map_server]: Cleaning up [map_server-10] [INFO] [1712462300.535667438] [PioneerP3DX.map_server]: Destroying bond (map_server) to lifecycle manager.
[controller_server-13] [INFO] [1712462300.541797923] [PioneerP3DX.local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager. [controller_server-13] [INFO] [1712462300.541831562] [PioneerP3DX.controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server) [controller_server-13] [INFO] [1712462300.541932675] [PioneerP3DX.controller_server]: Cleaning up [behavior_server-14] [INFO] [1712462300.548342137] [PioneerP3DX.behavior_server]: Destroying bond (behavior_server) to lifecycle manager. [controller_server-13] [INFO] [1712462300.576285255] [PioneerP3DX.controller_server]: Destroying bond (controller_server) to lifecycle manager.
[planner_server-12] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [planner_server-12] at line 127 in ./src/class_loader.cpp [planner_server-12] terminate called without an active exception [bt_navigator-11] [INFO] [1712462300.684585367] [PioneerP3DX.bt_navigator]: Completed Cleaning up [bt_navigator-11] [INFO] [1712462300.684661489] [PioneerP3DX.bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager. [ERROR] [simulated_anemometer-6]: process has died [pid 10584, exit code -6, cmd '/home/gouqin/gaden/install/simulated_anemometer/lib/simulated_anemometer/simulated_anemometer --ros-args -r __node:=fake_anemometer --params-file /tmp/launch_params_hz2sjysp --params-file /tmp/launch_params_9kmcttmg --params-file /tmp/launch_params_7bxlrjbp --params-file /tmp/launch_params_uz_i_3qv --params-file /tmp/launch_params_kldsq069']. [INFO] [static_transform_publisher-9]: process has finished cleanly [pid 10640] [ERROR] [simulated_gas_sensor-8]: process has died [pid 10625, exit code -6, cmd '/home/gouqin/gaden/install/simulated_gas_sensor/lib/simulated_gas_sensor/simulated_gas_sensor --ros-args -r __node:=fake_pid --params-file /tmp/launch_params_emsja3i2 --params-file /tmp/launch_params_46s_z56y --params-file /tmp/launch_params_aiyn8n0t --params-file /tmp/launch_params_x_suuzhq --params-file /tmp/launch_params_uo8lx7is'].
[ERROR] [planner_server-12]: process has died [pid 10679, exit code -6, cmd '/opt/ros/humble/lib/nav2_planner/planner_server --ros-args -r node:=planner_server -r __ns:=/PioneerP3DX --params-file /tmp/launch_params_fypyr3r2']. [INFO] [static_transform_publisher-7]: process has finished cleanly [pid 10621] [coppelia_simulator-5] double free or corruption (out) [INFO] [controller_server-13]: process has finished cleanly [pid 10681] [INFO] [map_server-10]: process has finished cleanly [pid 10647] [INFO] [player-4]: process has finished cleanly [pid 10580] [INFO] [environment-3]: process has finished cleanly [pid 10578] [INFO] [bt_navigator-11]: process has finished cleanly [pid 10662] [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 10574] [INFO] [behavior_server-14]: process has finished cleanly [pid 10685] [coppelia_simulator-5] /home/gouqin/CoppeliaSim_Pro_V4_5_1_rev4_Ubuntu22_04/coppeliaSim.sh: 第 35 行： 10654 已中止 （核心已转储） "$dirname/$appname" "${PARAMETERS[@]}" [ERROR] [coppelia_simulator-5]: process has died [pid 10582, exit code 134, cmd '/home/gouqin/gaden/install/coppelia_ros2_pkg/lib/coppelia_ros2_pkg/coppelia_simulator --ros-args -r node:=coppelia_simulator --params-file /tmp/launch_params_93ljhqkj --params-file /tmp/launch_params__3k09xka --params-file /tmp/launch_params_k2n1vrep --params-file /tmp/launch_params_1rrwhuy3 --params-file /tmp/launch_params_gyts_sa1 --params-file /home/gouqin/gaden/install/coppelia_ros2_pkg/share/coppelia_ros2_pkg/launch/scene_params.yaml --params-file /tmp/launch_params_ml6y09k0 --params-file /tmp/launch_params_uvfj5j6e --params-file /tmp/launch_params_3zzdkk6w --params-file /tmp/launch_params_uaw3hws3 --params-file /tmp/launch_params_pv81if3x --params-file /tmp/launch_params_n6y92lnd']. [lifecycle_manager-15] [ERROR] [1712462302.528133963] [PioneerP3DX.lifecycle_manager_navigation]: Failed to change state for node: planner_server. Exception: planner_server/get_state service client: async_send_request failed. [lifecycle_manager-15] [ERROR] [1712462302.528207281] [PioneerP3DX.lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup. [lifecycle_manager-15] [INFO] [1712462302.560227211] [PioneerP3DX.lifecycle_manager_navigation]: Destroying lifecycle_manager_navigation [INFO] [lifecycle_manager-15]: process has finished cleanly [pid 10687] I'm new to ROS2 and haven't been able to solve it on my own. Can you help me, please?