Conversion error between rclcpp::Node and rclcpp_lifecycle::LifecycleNode

[stinkyElias]

Hello

I try to do the Implement actions as Behavior Trees example for the home page. However, when I run the PDDL problem I get the error messages

[bt_action_node-2] [INFO] [1707909439.883004513] [move_1_bb_node]: "move" BtActionNode initialized
[bt_action_node-2] [ERROR] [1707909439.884271143] [move_1]: Caught exception in callback for transition 13
[bt_action_node-2] [ERROR] [1707909439.884305296] [move_1]: Original error: [Any::convert]: no known safe conversion between [std::shared_ptr<rclcpp::Node>] and [std::shared_ptr<rclcpp_lifecycle::LifecycleNode>]
[bt_action_node-2] [WARN] [1707909439.884331279] [move_1]: Error occurred while doing error handling.

PlanSys2 and BT's is new to me, so I do not know how to solve this. My setup is Humble on Ubuntu 22.04 and I follow the tutorials from the home page. It's worth mentioning that I use ros2_planning_system humble-devel, cascade_lifecycle humble-devel but ros2_planning_system_examples rolling (as I cannot find any examples for humble.

This is what I do:

Terminal 1

$ colcon build --symlink-install --allow-override rclcpp_cascade_lifecycle
$ rosdep install --from-paths src --ignore-src -r -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
plansys2_simple_example_py: Cannot locate rosdep definition for [plansys2_support_py]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully
$ colcon build --symlink-install --allow-override rclcpp_cascade_lifecycle
Summary: 9 packages finished [5.20s]
$ source install/setup.bash
$ ros2 launch plansys2_bt_example plansys2_bt_example_launch.py

Everything seems to run fine after launching. Been trying both with and without overriding rclcpp_cascade_lifecycle, but I get a warning without overriding.

Terminal 2

$ ros2 run plansys2_bt_example nav2_sim_node 
[INFO] [1707909117.376761904] [navigate_to_pose_server]: Ready.

Terminal 3

$ ros2 run plansys2_terminal plansys2_terminal 
[INFO] [1707909140.144443897] [terminal]: No problem file specified.
ROS2 Planning System console. Type "quit" to finish
>

I check that the domain exists in plansys_terminal and I set instances and predicates as in the tutorial. Then, when I hit "run" in plansys2_terminal I receive the aforementioned error in terminal 1 and the program never continues after.

Could the issue be related to that I use the examples for rolling? In that case, is there any branches for humble-devel?

If not, any help would be appreciated!

[fmrico]

Hi @stinkyElias

Could the issue be related to that I use the examples for rolling? In that case, is there any branches for humble-devel?

I have just created a humble branch for examples in the dates I was working with humble branches for the other packages. It should fix the problem with Nodes and LifeCycle Nodes.

Please, test it and close the issue if it works

[fmrico]

BTW, You can use rolling branches with Humble.

[stinkyElias]

Thank you @fmrico. Switching to the humble branch fixed this specific error.

BTW, You can use rolling branches with Humble.

With the rolling branch I unfortunately get the same error.