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abizovnuralem / go2_ros2_sdk

Unofficial ROS2 SDK support for Unitree GO2 AIR/PRO/EDU
BSD 2-Clause "Simplified" License
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[global_costmap.global_costmap]: Can't update static costmap layer, no map received #104

Open Uchiwuwu opened 2 weeks ago

Uchiwuwu commented 2 weeks ago

Hi,

I try to run the robot.launch.py. The rviz and robot pops up fine but I don't recieve any map from my unitree. Do you know what is wrong with it?

[INFO] [launch]: All log files can be found below /home/uchiwuwu/.ros/log/2024-11-08-09-41-53-364221-uchiwuwu-Inspiron-5593-16788
[INFO] [launch]: Default logging verbosity is set to INFO
IP list: ['192.168.24.73']
[INFO] [robot_state_publisher-1]: process started with pid [16789]
[INFO] [pointcloud_to_laserscan_node-2]: process started with pid [16791]
[INFO] [go2_driver_node-3]: process started with pid [16793]
[INFO] [lidar_to_pointcloud-4]: process started with pid [16795]
[INFO] [rviz2-5]: process started with pid [16797]
[INFO] [joy_node-6]: process started with pid [16799]
[INFO] [teleop_node-7]: process started with pid [16801]
[INFO] [twist_mux-8]: process started with pid [16803]
[INFO] [joint_state_publisher_gui-9]: process started with pid [16833]
[INFO] [foxglove_bridge-10]: process started with pid [16847]
[INFO] [async_slam_toolbox_node-11]: process started with pid [16849]
[INFO] [controller_server-12]: process started with pid [16859]
[INFO] [smoother_server-13]: process started with pid [16870]
[INFO] [planner_server-14]: process started with pid [16899]
[INFO] [behavior_server-15]: process started with pid [16913]
[INFO] [bt_navigator-16]: process started with pid [16933]
[INFO] [waypoint_follower-17]: process started with pid [16944]
[INFO] [velocity_smoother-18]: process started with pid [16946]
[INFO] [lifecycle_manager-19]: process started with pid [16969]
[robot_state_publisher-1] [INFO] [1731076914.211033696] [robot_state_publisher]: got segment FL_calf
[robot_state_publisher-1] [INFO] [1731076914.211151615] [robot_state_publisher]: got segment FL_calflower
[robot_state_publisher-1] [INFO] [1731076914.211164472] [robot_state_publisher]: got segment FL_calflower1
[robot_state_publisher-1] [INFO] [1731076914.211172185] [robot_state_publisher]: got segment FL_foot
[robot_state_publisher-1] [INFO] [1731076914.211179098] [robot_state_publisher]: got segment FL_hip
[robot_state_publisher-1] [INFO] [1731076914.211185830] [robot_state_publisher]: got segment FL_thigh
[robot_state_publisher-1] [INFO] [1731076914.211192532] [robot_state_publisher]: got segment FR_calf
[robot_state_publisher-1] [INFO] [1731076914.211199412] [robot_state_publisher]: got segment FR_calflower
[robot_state_publisher-1] [INFO] [1731076914.211206664] [robot_state_publisher]: got segment FR_calflower1
[robot_state_publisher-1] [INFO] [1731076914.211213981] [robot_state_publisher]: got segment FR_foot
[robot_state_publisher-1] [INFO] [1731076914.211220617] [robot_state_publisher]: got segment FR_hip
[robot_state_publisher-1] [INFO] [1731076914.211227307] [robot_state_publisher]: got segment FR_thigh
[robot_state_publisher-1] [INFO] [1731076914.211234271] [robot_state_publisher]: got segment Head_lower
[robot_state_publisher-1] [INFO] [1731076914.211241544] [robot_state_publisher]: got segment Head_upper
[robot_state_publisher-1] [INFO] [1731076914.211248059] [robot_state_publisher]: got segment RL_calf
[robot_state_publisher-1] [INFO] [1731076914.211254892] [robot_state_publisher]: got segment RL_calflower
[robot_state_publisher-1] [INFO] [1731076914.211262074] [robot_state_publisher]: got segment RL_calflower1
[robot_state_publisher-1] [INFO] [1731076914.211269456] [robot_state_publisher]: got segment RL_foot
[robot_state_publisher-1] [INFO] [1731076914.211276554] [robot_state_publisher]: got segment RL_hip
[robot_state_publisher-1] [INFO] [1731076914.211283891] [robot_state_publisher]: got segment RL_thigh
[robot_state_publisher-1] [INFO] [1731076914.211290861] [robot_state_publisher]: got segment RR_calf
[robot_state_publisher-1] [INFO] [1731076914.211297587] [robot_state_publisher]: got segment RR_calflower
[robot_state_publisher-1] [INFO] [1731076914.211305318] [robot_state_publisher]: got segment RR_calflower1
[robot_state_publisher-1] [INFO] [1731076914.211312207] [robot_state_publisher]: got segment RR_foot
[robot_state_publisher-1] [INFO] [1731076914.211319173] [robot_state_publisher]: got segment RR_hip
[robot_state_publisher-1] [INFO] [1731076914.211326564] [robot_state_publisher]: got segment RR_thigh
[robot_state_publisher-1] [INFO] [1731076914.211333649] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1731076914.211340604] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1731076914.211347381] [robot_state_publisher]: got segment front_camera
[robot_state_publisher-1] [INFO] [1731076914.211354610] [robot_state_publisher]: got segment imu
[robot_state_publisher-1] [INFO] [1731076914.211362539] [robot_state_publisher]: got segment map
[robot_state_publisher-1] [INFO] [1731076914.211369966] [robot_state_publisher]: got segment odom
[robot_state_publisher-1] [INFO] [1731076914.211377553] [robot_state_publisher]: got segment radar
[teleop_node-7] [INFO] [1731076914.204477662] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.200000.
[teleop_node-7] [INFO] [1731076914.204534225] [TeleopTwistJoy]: Linear axis y on 3 at scale 0.200000.
[teleop_node-7] [INFO] [1731076914.204542006] [TeleopTwistJoy]: Angular axis yaw on 6 at scale 0.200000.
[twist_mux-8] [INFO] [1731076914.204574538] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 10.
[twist_mux-8] [INFO] [1731076914.205104184] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 5.
[foxglove_bridge-10] [INFO] [1731076914.232253058] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so
[foxglove_bridge-10] [INFO] [1731076914.240946380] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-10] [INFO] [1731076914.241009218] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-10] [INFO] [1731076914.243158489] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.8.0@) with WebSocket++/0.8.2
[foxglove_bridge-10] [INFO] [1731076914.243684146] [foxglove_bridge]: [WS] Server running without TLS
[foxglove_bridge-10] [INFO] [1731076914.243940106] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765
[foxglove_bridge-10] [INFO] [1731076914.244451954] [foxglove_bridge]: [WS] WebSocket server run loop started
[async_slam_toolbox_node-11] [INFO] [1731076914.233874406] [slam_toolbox]: Node using stack size 40000000
[controller_server-12] [INFO] [1731076914.235268562] [controller_server]: 
[controller_server-12]  controller_server lifecycle node launched. 
[controller_server-12]  Waiting on external lifecycle transitions to activate
[controller_server-12]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-12] [INFO] [1731076914.243952117] [controller_server]: Creating controller server
[controller_server-12] [INFO] [1731076914.264904640] [local_costmap.local_costmap]: 
[controller_server-12]  local_costmap lifecycle node launched. 
[controller_server-12]  Waiting on external lifecycle transitions to activate
[controller_server-12]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-12] [INFO] [1731076914.265648762] [local_costmap.local_costmap]: Creating Costmap
[smoother_server-13] [INFO] [1731076914.254673421] [smoother_server]: 
[smoother_server-13]    smoother_server lifecycle node launched. 
[smoother_server-13]    Waiting on external lifecycle transitions to activate
[smoother_server-13]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-13] [INFO] [1731076914.257947790] [smoother_server]: Creating smoother server
[planner_server-14] [INFO] [1731076914.261474600] [planner_server]: 
[planner_server-14]     planner_server lifecycle node launched. 
[planner_server-14]     Waiting on external lifecycle transitions to activate
[planner_server-14]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-14] [INFO] [1731076914.266391084] [planner_server]: Creating
[planner_server-14] [INFO] [1731076914.271482258] [global_costmap.global_costmap]: 
[planner_server-14]     global_costmap lifecycle node launched. 
[planner_server-14]     Waiting on external lifecycle transitions to activate
[planner_server-14]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-14] [INFO] [1731076914.272315651] [global_costmap.global_costmap]: Creating Costmap
[behavior_server-15] [INFO] [1731076914.277607338] [behavior_server]: 
[behavior_server-15]    behavior_server lifecycle node launched. 
[behavior_server-15]    Waiting on external lifecycle transitions to activate
[behavior_server-15]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-16] [INFO] [1731076914.292232639] [bt_navigator]: 
[bt_navigator-16]   bt_navigator lifecycle node launched. 
[bt_navigator-16]   Waiting on external lifecycle transitions to activate
[bt_navigator-16]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-16] [INFO] [1731076914.292329643] [bt_navigator]: Creating
[waypoint_follower-17] [INFO] [1731076914.306554370] [waypoint_follower]: 
[waypoint_follower-17]  waypoint_follower lifecycle node launched. 
[waypoint_follower-17]  Waiting on external lifecycle transitions to activate
[waypoint_follower-17]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[velocity_smoother-18] [INFO] [1731076914.306643414] [velocity_smoother]: 
[velocity_smoother-18]  velocity_smoother lifecycle node launched. 
[velocity_smoother-18]  Waiting on external lifecycle transitions to activate
[velocity_smoother-18]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-17] [INFO] [1731076914.310143613] [waypoint_follower]: Creating
[lifecycle_manager-19] [INFO] [1731076914.329667483] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-19] [INFO] [1731076914.340506942] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[async_slam_toolbox_node-11] [INFO] [1731076914.408377336] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-11] [INFO] [1731076914.408563341] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[pointcloud_to_laserscan_node-2] [INFO] [1731076914.427011347] [pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber
[lifecycle_manager-19] [INFO] [1731076914.459587737] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-19] [INFO] [1731076914.459638869] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-12] [INFO] [1731076914.460797000] [controller_server]: Configuring controller interface
[controller_server-12] [INFO] [1731076914.460947491] [controller_server]: getting goal checker plugins..
[controller_server-12] [INFO] [1731076914.461027935] [controller_server]: Controller frequency set to 3.0000Hz
[controller_server-12] [INFO] [1731076914.461063615] [local_costmap.local_costmap]: Configuring
[controller_server-12] [INFO] [1731076914.464688488] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-12] [INFO] [1731076914.471016445] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-12] [INFO] [1731076914.472145038] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-12] [INFO] [1731076914.472182939] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-12] [INFO] [1731076914.473411876] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-12] [INFO] [1731076914.480746975] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-12] [INFO] [1731076914.480788272] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-12] [INFO] [1731076914.481948222] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-12] [INFO] [1731076914.489277362] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-12] [INFO] [1731076914.490886301] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-12] [INFO] [1731076914.492167836] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-12] [INFO] [1731076914.495315917] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-12] [INFO] [1731076914.501060618] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-12] [INFO] [1731076914.514793641] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-12] [INFO] [1731076914.515474494] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.515632953] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-12] [INFO] [1731076914.516149117] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.516288923] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-12] [INFO] [1731076914.516503948] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.516638323] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-12] [INFO] [1731076914.517076015] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.517219002] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-12] [INFO] [1731076914.517545379] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.517775214] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-12] [INFO] [1731076914.518018181] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.518110757] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-12] [INFO] [1731076914.518320755] [controller_server]: Critic plugin initialized
[controller_server-12] [INFO] [1731076914.518343118] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-19] [INFO] [1731076914.523826126] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-13] [INFO] [1731076914.524709481] [smoother_server]: Configuring smoother server
[smoother_server-13] [INFO] [1731076914.529215350] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-13] [INFO] [1731076914.530182087] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-19] [INFO] [1731076914.534665700] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-14] [INFO] [1731076914.535079899] [planner_server]: Configuring
[planner_server-14] [INFO] [1731076914.535127017] [global_costmap.global_costmap]: Configuring
[planner_server-14] [INFO] [1731076914.601037835] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-14] [INFO] [1731076914.607294215] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-14] [INFO] [1731076914.608168671] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-14] [INFO] [1731076914.608216411] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-14] [INFO] [1731076914.609561498] [global_costmap.global_costmap]: Subscribed to Topics: scan
[rviz2-5] [INFO] [1731076914.647416540] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1731076914.647650951] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-5] [INFO] [1731076914.684991599] [rviz2]: Stereo is NOT SUPPORTED
[pointcloud_to_laserscan_node-2] [WARN] [1731076914.837151790] [pointcloud_to_laserscan]: New subscription discovered on topic '/scan', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[rviz2-5] [WARN] [1731076914.917979844] [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.
[rviz2-5] [WARN] [1731076914.931270383] [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.
[planner_server-14] [INFO] [1731076915.002088723] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-14] [INFO] [1731076915.002830768] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-14] [INFO] [1731076915.007832624] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-14] [INFO] [1731076915.013439826] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-14] [INFO] [1731076915.013489064] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[joint_state_publisher_gui-9] [INFO] [1731076915.021922595] [joint_state_publisher_gui]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-9] [INFO] [1731076915.031210572] [joint_state_publisher_gui]: Centering
[planner_server-14] [INFO] [1731076915.092118687] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-19] [INFO] [1731076915.101354542] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-15] [INFO] [1731076915.101625624] [behavior_server]: Configuring
[behavior_server-15] [INFO] [1731076915.105783966] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-15] [INFO] [1731076915.106646384] [behavior_server]: Configuring spin
[behavior_server-15] [INFO] [1731076915.111273495] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-15] [INFO] [1731076915.111980885] [behavior_server]: Configuring backup
[behavior_server-15] [INFO] [1731076915.114520407] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-15] [INFO] [1731076915.115341016] [behavior_server]: Configuring drive_on_heading
[behavior_server-15] [INFO] [1731076915.117750996] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-15] [INFO] [1731076915.119365489] [behavior_server]: Configuring assisted_teleop
[behavior_server-15] [INFO] [1731076915.123258179] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-15] [INFO] [1731076915.123923226] [behavior_server]: Configuring wait
[lifecycle_manager-19] [INFO] [1731076915.126866556] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-16] [INFO] [1731076915.127071680] [bt_navigator]: Configuring
[lifecycle_manager-19] [INFO] [1731076915.196356990] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-17] [INFO] [1731076915.196580136] [waypoint_follower]: Configuring
[waypoint_follower-17] [INFO] [1731076915.201432521] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-19] [INFO] [1731076915.202728487] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-18] [INFO] [1731076915.203442084] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-19] [INFO] [1731076915.206875035] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-12] [INFO] [1731076915.207120260] [controller_server]: Activating
[controller_server-12] [INFO] [1731076915.207167093] [local_costmap.local_costmap]: Activating
[controller_server-12] [INFO] [1731076915.207183552] [local_costmap.local_costmap]: Checking transform
[controller_server-12] [INFO] [1731076915.207301640] [local_costmap.local_costmap]: start
[joint_state_publisher_gui-9] [INFO] [1731076915.220498164] [joint_state_publisher_gui]: Centering
[rviz2-5] [ERROR] [1731076915.566706957] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-5] 
[rviz2-5] [ERROR] [1731076915.566862786] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-5] 
[go2_driver_node-3] [INFO] [1731076915.609083730] [go2_driver_node]: Received ip list: ['192.168.24.73']
[go2_driver_node-3] [INFO] [1731076915.609612264] [go2_driver_node]: Connection type is webrtc
[go2_driver_node-3] [INFO] [1731076915.610075918] [go2_driver_node]: Connection mode is single
[rviz2-5] [INFO] [1731076915.630834227] [rviz2]: Stereo is NOT SUPPORTED
[go2_driver_node-3] INFO:scripts.go2_camerainfo:Loading camera info from file: /home/uchiwuwu/ros2_ws/install/go2_robot_sdk/share/go2_robot_sdk/calibration/front_camera.yaml
[go2_driver_node-3] INFO:root:Trying to send SDP using a NEW method...
[controller_server-12] [INFO] [1731076916.257714397] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076916.359847132] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-19] [INFO] [1731076916.359895579] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-13] [INFO] [1731076916.360083279] [smoother_server]: Activating
[smoother_server-13] [INFO] [1731076916.360114977] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076916.461791920] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-19] [INFO] [1731076916.461849088] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-14] [INFO] [1731076916.462080746] [planner_server]: Activating
[planner_server-14] [INFO] [1731076916.462116952] [global_costmap.global_costmap]: Activating
[planner_server-14] [INFO] [1731076916.462128406] [global_costmap.global_costmap]: Checking transform
[planner_server-14] [INFO] [1731076916.462212533] [global_costmap.global_costmap]: start
[lidar_to_pointcloud-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py:441: UserWarning: when declaring parameter named 'robot_ip_lst', declaring a parameter only providing its name is deprecated. You have to either:
[lidar_to_pointcloud-4]     - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor).
[lidar_to_pointcloud-4]     - Pass a name and a parameter type.
[lidar_to_pointcloud-4]     - Pass a name and a descriptor with `dynamic_typing=True
[lidar_to_pointcloud-4]   warnings.warn(
[lidar_to_pointcloud-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py:441: UserWarning: when declaring parameter named 'map_name', declaring a parameter only providing its name is deprecated. You have to either:
[lidar_to_pointcloud-4]     - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor).
[lidar_to_pointcloud-4]     - Pass a name and a parameter type.
[lidar_to_pointcloud-4]     - Pass a name and a descriptor with `dynamic_typing=True
[lidar_to_pointcloud-4]   warnings.warn(
[lidar_to_pointcloud-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py:441: UserWarning: when declaring parameter named 'map_save', declaring a parameter only providing its name is deprecated. You have to either:
[lidar_to_pointcloud-4]     - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor).
[lidar_to_pointcloud-4]     - Pass a name and a parameter type.
[lidar_to_pointcloud-4]     - Pass a name and a descriptor with `dynamic_typing=True
[lidar_to_pointcloud-4]   warnings.warn(
[lidar_to_pointcloud-4] [INFO] [1731076916.990920883] [lidar_to_pointcloud]: Map will be saved
[lidar_to_pointcloud-4] [INFO] [1731076916.991239895] [lidar_to_pointcloud]: Map name is 3d_map.ply
[planner_server-14] [INFO] [1731076917.962586075] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-14] [INFO] [1731076917.963083619] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076918.065106198] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-19] [INFO] [1731076918.065157341] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-15] [INFO] [1731076918.065417037] [behavior_server]: Activating
[behavior_server-15] [INFO] [1731076918.065444627] [behavior_server]: Activating spin
[behavior_server-15] [INFO] [1731076918.065457063] [behavior_server]: Activating backup
[behavior_server-15] [INFO] [1731076918.065465377] [behavior_server]: Activating drive_on_heading
[behavior_server-15] [INFO] [1731076918.065474871] [behavior_server]: Activating assisted_teleop
[behavior_server-15] [INFO] [1731076918.065484604] [behavior_server]: Activating wait
[behavior_server-15] [INFO] [1731076918.065496893] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076918.168148078] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-19] [INFO] [1731076918.168197230] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-16] [INFO] [1731076918.168406997] [bt_navigator]: Activating
[bt_navigator-16] [INFO] [1731076918.192791387] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076918.295165847] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-19] [INFO] [1731076918.295208922] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-17] [INFO] [1731076918.295445034] [waypoint_follower]: Activating
[waypoint_follower-17] [INFO] [1731076918.295476096] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076918.397287181] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-19] [INFO] [1731076918.397335633] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-18] [INFO] [1731076918.397644359] [velocity_smoother]: Activating
[velocity_smoother-18] [INFO] [1731076918.397714559] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[lifecycle_manager-19] [INFO] [1731076918.499855386] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-19] [INFO] [1731076918.499901802] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-19] [INFO] [1731076918.499916378] [lifecycle_manager_navigation]: Creating bond timer...
[controller_server-12] [WARN] [1731076925.207578088] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-14] [WARN] [1731076926.775827512] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-12] [WARN] [1731076935.207575289] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-14] [WARN] [1731076936.786239909] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-12] [WARN] [1731076945.207514536] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-14] [WARN] [1731076946.785546319] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
tackgeun commented 2 weeks ago

I'm also experiencing this issue time to time. Refer to issue #87 for related questions. It might be helpful to handle the issue.

Although I did not check it deeply, it seems that costmap based on point cloud is only visible in stand up pose with general mode, not advanced or AI mode. The modes are tunable within the go2 app.

And, type "ros2 topic list" and validate topics. If the connection is good, topics are similar to issue #87 and image from front camera should appear. If topics and camera image are valid, it is usually caused by inappropriate dependencies. Please do properly install the dependencies.