how to connect by cyclonedds

Hello,

First, I would like to apologize for my limited knowledge in English, robotics, and communication.

I attempted to use the information from GitHub to output point cloud data, monitor joints in real-time, and get camera information from the Unitree Go2. I couldn't figure out how to set up with WebRTC, so I tried setting CONN_TYPE to cyclonedds. The output was as follows.

Previously, when I failed, the parts that were not connected to the robot's body were displayed at the origin. However, this time, nothing was displayed, so I thought I might be getting closer to a solution and decided to ask for help.

Thank you for your assistance.

///////////////////////////////////////////////////////////////////////////////// ros2 launch go2_robot_sdk robot.launch.py

Screenshot from 2024-08-01 09-21-23

chatGPT: The logs show that the problem is related to incompatibility between the numpy and scipy library versions. This particular error occurs because numpy 2.0.1 is used, which is not compatible with the installed scipy version. In particular, it states that the scipy version requires numpy >= 1.17.3 and < 1.25.0.

Thank you. It seems that the connection is still not working. I apologize for the basic question, but do I need to attach a wireless LAN adapter to the Unitree Go2 for the WebRTC connection?

No you do not need to do that, it should work out of the box

Thank you. So, if wlan0 is connected in the Data section of the Go2 app under Automatic Machine Inspection, does that mean we can connect by simply exporting the IP address of wlan0 and "webrtc" without any additional special operations?

No matter how many times I try, I keep seeing an image of a robot with disconnected legs in the initial position and "NO IMAGE" displayed. Could the Python version 3.10.13 be affecting this in some way?

[rviz2-6] [INFO] [1723082619.571413866] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1723082619.571557597] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-6] [INFO] [1723082619.589620414] [rviz2]: Stereo is NOT SUPPORTED

Could this part be causing the issue? I apologize for asking multiple times.

Can you send a full text after the launch, please?

ubuntu@B249112:~/ros2_ws$ colcon build Starting >>> go2_interfaces Starting >>> coco_detector Starting >>> ros2_go2_video Starting >>> unitree_go Finished <<< coco_detector [0.93s] 　　　stderr: ros2_go2_video 　　　 Finished colcon profile [optimized] target(s) in 0.57s Finished <<< ros2_go2_video [1.12s] Finished <<< go2_interfaces [1.29s] Starting >>> go2_robot_sdk Finished <<< go2_robot_sdk [0.81s] Finished <<< unitree_go [5.30s]

Summary: 5 packages finished [5.55s] 1 package had stderr output: ros2_go2_video

ubuntu@B249112:~/ros2_ws$ source install/setup.bash
ubuntu@B249112:~/ros2_ws$ export ROBOT_IP="192.168.0.176"
ubuntu@B249112:~/ros2_ws$ export CONN_TYPE="webrtc"
ubuntu@B249112:~/ros2_ws$ ros2 launch go2_robot_sdk robot.launch.py

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-08-15-00-55-59-445061-B249112-8078 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [8082] [INFO] [ros2_go2_video-2]: process started with pid [8084] [INFO] [pointcloud_to_laserscan_node-3]: process started with pid [8086] [INFO] [go2_driver_node-4]: process started with pid [8088] [INFO] [lidar_to_pointcloud-5]: process started with pid [8090] [INFO] [rviz2-6]: process started with pid [8092] [INFO] [joy_node-7]: process started with pid [8094] [INFO] [teleop_node-8]: process started with pid [8096] [INFO] [twist_mux-9]: process started with pid [8098] [INFO] [foxglove_bridge-10]: process started with pid [8100] [INFO] [async_slam_toolbox_node-11]: process started with pid [8102] [INFO] [controller_server-12]: process started with pid [8104] [INFO] [smoother_server-13]: process started with pid [8106] [INFO] [planner_server-14]: process started with pid [8108] [INFO] [behavior_server-15]: process started with pid [8110] [INFO] [bt_navigator-16]: process started with pid [8112] [INFO] [waypoint_follower-17]: process started with pid [8114] [INFO] [velocity_smoother-18]: process started with pid [8116] [INFO] [lifecycle_manager-19]: process started with pid [8118] [teleop_node-8] [INFO] [1723683360.087667837] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.400000. [velocity_smoother-18] [INFO] [1723683360.088649681] [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. [smoother_server-13] [INFO] [1723683360.090585214] [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. [teleop_node-8] [INFO] [1723683360.092452788] [TeleopTwistJoy]: Linear axis y on 0 at scale 0.400000. [teleop_node-8] [INFO] [1723683360.092485283] [TeleopTwistJoy]: Angular axis yaw on 3 at scale 1.500000. [robot_state_publisher-1] [INFO] [1723683360.098775070] [robot_state_publisher]: got segment FL_calf [robot_state_publisher-1] [INFO] [1723683360.099266630] [robot_state_publisher]: got segment FL_calflower [robot_state_publisher-1] [INFO] [1723683360.099288505] [robot_state_publisher]: got segment FL_calflower1 [robot_state_publisher-1] [INFO] [1723683360.099296885] [robot_state_publisher]: got segment FL_foot [robot_state_publisher-1] [INFO] [1723683360.099305146] [robot_state_publisher]: got segment FL_hip [robot_state_publisher-1] [INFO] [1723683360.099312277] [robot_state_publisher]: got segment FL_thigh [robot_state_publisher-1] [INFO] [1723683360.099322949] [robot_state_publisher]: got segment FR_calf [robot_state_publisher-1] [INFO] [1723683360.099329703] [robot_state_publisher]: got segment FR_calflower [robot_state_publisher-1] [INFO] [1723683360.099338305] [robot_state_publisher]: got segment FR_calflower1 [robot_state_publisher-1] [INFO] [1723683360.099347397] [robot_state_publisher]: got segment FR_foot [robot_state_publisher-1] [INFO] [1723683360.099360622] [robot_state_publisher]: got segment FR_hip [robot_state_publisher-1] [INFO] [1723683360.099369192] [robot_state_publisher]: got segment FR_thigh [robot_state_publisher-1] [INFO] [1723683360.099376765] [robot_state_publisher]: got segment Head_lower [robot_state_publisher-1] [INFO] [1723683360.099382075] [robot_state_publisher]: got segment Head_upper [robot_state_publisher-1] [INFO] [1723683360.099388856] [robot_state_publisher]: got segment RL_calf [robot_state_publisher-1] [INFO] [1723683360.099395013] [robot_state_publisher]: got segment RL_calflower [robot_state_publisher-1] [INFO] [1723683360.099401205] [robot_state_publisher]: got segment RL_calflower1 [robot_state_publisher-1] [INFO] [1723683360.099408774] [robot_state_publisher]: got segment RL_foot [robot_state_publisher-1] [INFO] [1723683360.099414655] [robot_state_publisher]: got segment RL_hip [robot_state_publisher-1] [INFO] [1723683360.099421202] [robot_state_publisher]: got segment RL_thigh [robot_state_publisher-1] [INFO] [1723683360.099428420] [robot_state_publisher]: got segment RR_calf [robot_state_publisher-1] [INFO] [1723683360.099436279] [robot_state_publisher]: got segment RR_calflower [robot_state_publisher-1] [INFO] [1723683360.099443356] [robot_state_publisher]: got segment RR_calflower1 [robot_state_publisher-1] [INFO] [1723683360.099451364] [robot_state_publisher]: got segment RR_foot [robot_state_publisher-1] [INFO] [1723683360.099462232] [robot_state_publisher]: got segment RR_hip [robot_state_publisher-1] [INFO] [1723683360.099469036] [robot_state_publisher]: got segment RR_thigh [robot_state_publisher-1] [INFO] [1723683360.099474903] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1723683360.099481342] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1723683360.099489972] [robot_state_publisher]: got segment front_camera [robot_state_publisher-1] [INFO] [1723683360.099496804] [robot_state_publisher]: got segment imu [robot_state_publisher-1] [INFO] [1723683360.099505776] [robot_state_publisher]: got segment map [robot_state_publisher-1] [INFO] [1723683360.099511907] [robot_state_publisher]: got segment odom [robot_state_publisher-1] [INFO] [1723683360.099518146] [robot_state_publisher]: got segment radar [async_slam_toolbox_node-11] [INFO] [1723683360.100605386] [slam_toolbox]: Node using stack size 40000000 [behavior_server-15] [INFO] [1723683360.102266165] [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. [smoother_server-13] [INFO] [1723683360.105766080] [smoother_server]: Creating smoother server [bt_navigator-16] [INFO] [1723683360.106154687] [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.

[planner_server-14] [INFO] [1723683360.106656185] [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.

[waypoint_follower-17] [INFO] [1723683360.111838555] [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.

[lifecycle_manager-19] [INFO] [1723683360.129300427] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [controller_server-12] [INFO] [1723683360.136343528] [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. [planner_server-14] [INFO] [1723683360.138417013] [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. [foxglove_bridge-10] [INFO] [1723683360.138825888] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so [planner_server-14] [INFO] [1723683360.140290636] [global_costmap.global_costmap]: Creating Costmap [twist_mux-9] [INFO] [1723683360.144344765] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 10. [controller_server-12] [INFO] [1723683360.146886610] [controller_server]: Creating controller server [twist_mux-9] [INFO] [1723683360.147852651] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 5. [foxglove_bridge-10] [INFO] [1723683360.172841934] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate [foxglove_bridge-10] [INFO] [1723683360.173971918] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate [controller_server-12] [INFO] [1723683360.197775993] [local_costmap.local_costmap]: [controller_server-12] local_costmap lifecycle node launched. [controller_server-12] Waiting on external lifecycle transitions to activate [async_slam_toolbox_node-11] [INFO] [1723683360.198564009] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver [controller_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information. [foxglove_bridge-10] [INFO] [1723683360.199512779] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.7.7@) with WebSocket++/0.8.2 [async_slam_toolbox_node-11] [INFO] [1723683360.199680396] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner. [controller_server-12] [INFO] [1723683360.201465427] [local_costmap.local_costmap]: Creating Costmap [lifecycle_manager-19] [INFO] [1723683360.203459625] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-19] [INFO] [1723683360.204758216] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-12] [INFO] [1723683360.207886671] [controller_server]: Configuring controller interface [controller_server-12] [INFO] [1723683360.208313481] [controller_server]: getting goal checker plugins.. [controller_server-12] [INFO] [1723683360.208542561] [controller_server]: Controller frequency set to 20.0000Hz

[foxglove_bridge-10] [INFO] [1723683360.211321181] [foxglove_bridge]: [WS] Server running without TLS [foxglove_bridge-10] [INFO] [1723683360.213075187] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765 [pointcloud_to_laserscan_node-3] [INFO] [1723683360.215128938] [pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber [foxglove_bridge-10] [INFO] [1723683360.216455323] [foxglove_bridge]: [WS] WebSocket server run loop started [ros2_go2_video-2] [INFO] [1723683360.223410457] [go2_video]: Starting go2_video [ros2_go2_video-2] [INFO] [1723683360.231971333] [go2_video]: Connecting to the robot's video stream [ros2_go2_video-2] Logger is already initialized [controller_server-12] [INFO] [1723683360.259856671] [local_costmap.local_costmap]: Using plugin "static_layer" [controller_server-12] [INFO] [1723683360.295752822] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability [controller_server-12] [INFO] [1723683360.299473750] [local_costmap.local_costmap]: Initialized plugin "static_layer" [controller_server-12] [INFO] [1723683360.300713858] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-12] [INFO] [1723683360.302880731] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-12] [INFO] [1723683360.317343346] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-12] [INFO] [1723683360.317438795] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-12] [INFO] [1723683360.318355325] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-12] [INFO] [1723683360.331159466] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-12] [INFO] [1723683360.332331332] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-12] [INFO] [1723683360.332687610] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-12] [INFO] [1723683360.336536704] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-12] [INFO] [1723683360.338832041] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-12] [INFO] [1723683360.354632418] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-12] [INFO] [1723683360.355458532] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.355664658] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-12] [INFO] [1723683360.356145910] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.356272484] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-12] [INFO] [1723683360.356437925] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.356559560] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-12] [INFO] [1723683360.357128533] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.357380648] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-12] [INFO] [1723683360.357938198] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.358064502] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-12] [INFO] [1723683360.358355092] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.358469214] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-12] [INFO] [1723683360.358709793] [controller_server]: Critic plugin initialized [controller_server-12] [INFO] [1723683360.358737701] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-19] [INFO] [1723683360.366161867] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-13] [INFO] [1723683360.366533361] [smoother_server]: Configuring smoother server [smoother_server-13] [INFO] [1723683360.377172586] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-13] [INFO] [1723683360.378340568] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-19] [INFO] [1723683360.383658842] [lifecycle_manager_navigation]: Configuring planner_server

[planner_server-14] [INFO] [1723683360.497610117] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-14] [INFO] [1723683360.502403449] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-14] [INFO] [1723683360.504784984] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-14] [INFO] [1723683360.504833794] [global_costmap.global_costmap]: Using plugin "voxel_layer" [planner_server-14] [INFO] [1723683360.505962649] [global_costmap.global_costmap]: Subscribed to Topics: scan [rviz2-6] [INFO] [1723683360.643074718] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1723683360.643371277] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-6] [INFO] [1723683360.680048142] [rviz2]: Stereo is NOT SUPPORTED [pointcloud_to_laserscan_node-3] [WARN] [1723683360.768128227] [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 [planner_server-14] [INFO] [1723683360.826834157] [global_costmap.global_costmap]: Initialized plugin "voxel_layer" [planner_server-14] [INFO] [1723683360.826933667] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-14] [INFO] [1723683360.832425342] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-14] [INFO] [1723683360.844802756] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-14] [INFO] [1723683360.844854191] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-14] [INFO] [1723683360.946471056] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-19] [INFO] [1723683360.959310083] [lifecycle_manager_navigation]: Configuring behavior_server

[behavior_server-15] [INFO] [1723683360.973871068] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-15] [INFO] [1723683360.976297796] [behavior_server]: Configuring spin [behavior_server-15] [INFO] [1723683360.981193119] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-15] [INFO] [1723683360.982647227] [behavior_server]: Configuring backup [behavior_server-15] [INFO] [1723683360.988261448] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-15] [INFO] [1723683360.989921681] [behavior_server]: Configuring drive_on_heading [behavior_server-15] [INFO] [1723683360.994669286] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-15] [INFO] [1723683360.997567549] [behavior_server]: Configuring assisted_teleop [behavior_server-15] [INFO] [1723683361.006952663] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-15] [INFO] [1723683361.008798650] [behavior_server]: Configuring wait [lifecycle_manager-19] [INFO] [1723683361.013894745] [lifecycle_manager_navigation]: Configuring bt_navigator

[go2_driver_node-4] [INFO] [1723683361.125344209] [go2_driver_node]: Received ip list: ['192.168.0.176'] [go2_driver_node-4] [INFO] [1723683361.125824423] [go2_driver_node]: Connection type is webrtc [go2_driver_node-4] [INFO] [1723683361.126159205] [go2_driver_node]: Connection mode is single [lifecycle_manager-19] [INFO] [1723683361.145802310] [lifecycle_manager_navigation]: Configuring waypoint_follower

[waypoint_follower-17] [INFO] [1723683361.162988426] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-19] [INFO] [1723683361.164443868] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-18] [INFO] [1723683361.165037793] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-19] [INFO] [1723683361.170912805] [lifecycle_manager_navigation]: Activating controller_server

[controller_server-12] [INFO] [1723683361.171493947] [local_costmap.local_costmap]: Checking transform

[rviz2-6] [ERROR] [1723683361.395793970] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-6] [rviz2-6] [ERROR] [1723683361.396182348] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-6] [rviz2-6] [INFO] [1723683361.442333243] [rviz2]: Stereo is NOT SUPPORTED [controller_server-12] [INFO] [1723683362.173886921] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683362.280195114] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-19] [INFO] [1723683362.280354275] [lifecycle_manager_navigation]: Activating smoother_server

[smoother_server-13] [INFO] [1723683362.281331350] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683362.393421266] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-19] [INFO] [1723683362.393470944] [lifecycle_manager_navigation]: Activating planner_server

[planner_server-14] [INFO] [1723683362.393807023] [global_costmap.global_costmap]: Checking transform

[lidar_to_pointcloud-5] /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-5] - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor). [lidar_to_pointcloud-5] - Pass a name and a parameter type. [lidar_to_pointcloud-5] - Pass a name and a descriptor with dynamic_typing=True [lidar_to_pointcloud-5] warnings.warn( [lidar_to_pointcloud-5] /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-5] - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor). [lidar_to_pointcloud-5] - Pass a name and a parameter type. [lidar_to_pointcloud-5] - Pass a name and a descriptor withdynamic_typing=True [lidar_to_pointcloud-5] warnings.warn( [lidar_to_pointcloud-5] /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-5] - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor). [lidar_to_pointcloud-5] - Pass a name and a parameter type. [lidar_to_pointcloud-5] - Pass a name and a descriptor with `dynamic_typing=True [lidar_to_pointcloud-5] warnings.warn( [lidar_to_pointcloud-5] [INFO] [1723683362.684234740] [lidar_to_pointcloud]: Map will be saved [lidar_to_pointcloud-5] [INFO] [1723683362.684595879] [lidar_to_pointcloud]: Map name is 3d_map.ply [planner_server-14] [INFO] [1723683364.095237146] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-14] [INFO] [1723683364.098116589] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683364.203453625] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-19] [INFO] [1723683364.203504265] [lifecycle_manager_navigation]: Activating behavior_server

[behavior_server-15] [INFO] [1723683364.204047547] [behavior_server]: Activating spin [behavior_server-15] [INFO] [1723683364.204060706] [behavior_server]: Activating backup [behavior_server-15] [INFO] [1723683364.204066823] [behavior_server]: Activating drive_on_heading [behavior_server-15] [INFO] [1723683364.204072913] [behavior_server]: Activating assisted_teleop [behavior_server-15] [INFO] [1723683364.204078856] [behavior_server]: Activating wait [behavior_server-15] [INFO] [1723683364.204088971] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683364.308713427] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-19] [INFO] [1723683364.308810530] [lifecycle_manager_navigation]: Activating bt_navigator

[bt_navigator-16] [INFO] [1723683364.515223217] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683364.630285866] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-19] [INFO] [1723683364.630399166] [lifecycle_manager_navigation]: Activating waypoint_follower

[waypoint_follower-17] [INFO] [1723683364.631133655] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683364.740538073] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-19] [INFO] [1723683364.740656418] [lifecycle_manager_navigation]: Activating velocity_smoother

[velocity_smoother-18] [INFO] [1723683364.741852971] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-19] [INFO] [1723683364.857137749] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-19] [INFO] [1723683364.857241383] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-19] [INFO] [1723683364.857264541] [lifecycle_manager_navigation]: Creating bond timer... [controller_server-12] [WARN] [1723683371.172267116] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-14] [WARN] [1723683372.912130997] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [ros2_go2_video-2] thread 'main' panicked at src/main.rs:107:62: [ros2_go2_video-2] failed to create decoder: MissingCodecParameters [ros2_go2_video-2] note: run with RUST_BACKTRACE=1 environment variable to display a backtrace [ERROR] [ros2_go2_video-2]: process has died [pid 8084, exit code 101, cmd '/home/ubuntu/ros2_ws/install/ros2_go2_video/lib/ros2_go2_video/ros2_go2_video --ros-args --params-file /tmp/launch_params_mvuxgo81']. [controller_server-12] [WARN] [1723683381.172158562] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-14] [WARN] [1723683382.755054658] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [controller_server-12] [WARN] [1723683391.172776778] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-14] [WARN] [1723683392.758171165] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [INFO] [rviz2-6]: process has finished cleanly [pid 8092] [foxglove_bridge-10] [INFO] [1723683398.034512483] [foxglove_bridge]: Removed channel 64 for topic "/clicked_point" (geometry_msgs/msg/PointStamped) [foxglove_bridge-10] [INFO] [1723683398.034612855] [foxglove_bridge]: Removed channel 34 for topic "/map_updates" (map_msgs/msg/OccupancyGridUpdate) [foxglove_bridge-10] [INFO] [1723683398.034633221] [foxglove_bridge]: Removed channel 43 for topic "/go2_camera/color/image" (sensor_msgs/msg/Image) [foxglove_bridge-10] [INFO] [1723683398.034649602] [foxglove_bridge]: Removed channel 56 for topic "/initialpose" (geometry_msgs/msg/PoseWithCovarianceStamped) [controller_server-12] [WARN] [1723683401.172814639] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-14] [WARN] [1723683402.794824894] [global_costmap.global_costmap]: Can't update static costmap layer, no map received ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[velocity_smoother-18] [INFO] [1723683403.726702718] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)

[velocity_smoother-18] [INFO] [1723683403.726946966] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.

[planner_server-14] [INFO] [1723683403.726740982] [global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)

[behavior_server-15] [INFO] [1723683403.726712837] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)

[behavior_server-15] [INFO] [1723683403.726982637] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.

[lifecycle_manager-19] [INFO] [1723683403.726707410] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) [lifecycle_manager-19] [INFO] [1723683403.726831131] [lifecycle_manager_navigation]: Terminating bond timer...

[waypoint_follower-17] [INFO] [1723683403.727037495] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)

[waypoint_follower-17] [INFO] [1723683403.727413437] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.

[controller_server-12] [INFO] [1723683403.726703011] [local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)

[smoother_server-13] [INFO] [1723683403.726707719] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server)

[smoother_server-13] [INFO] [1723683403.726942904] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.

[bt_navigator-16] [INFO] [1723683403.726720328] [bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator)

[bt_navigator-16] [INFO] [1723683403.726948587] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.

[go2_driver_node-4] Traceback (most recent call last): [go2_driver_node-4] File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 33, in [go2_driver_node-4] Exception in thread Thread-1 (_spin): [go2_driver_node-4] Traceback (most recent call last): [go2_driver_node-4] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner [foxglove_bridge-10] [INFO] [1723683403.731123470] [foxglove_bridge]: Shutting down foxglove_bridge [foxglove_bridge-10] [INFO] [1723683403.731175489] [foxglove_bridge]: [WS] Stopping WebSocket server [foxglove_bridge-10] [INFO] [1723683403.731247286] [foxglove_bridge]: [WS] All WebSocket connections closed [foxglove_bridge-10] [INFO] [1723683403.731252378] [foxglove_bridge]: [WS] Waiting for WebSocket server run loop to terminate [foxglove_bridge-10] [INFO] [1723683403.731460784] [foxglove_bridge]: [WS] asio handle_accept error: asio.system:125 (Operation aborted.) [foxglove_bridge-10] [INFO] [1723683403.731526807] [foxglove_bridge]: [WS] Error getting remote endpoint: asio.system:9 (Bad file descriptor) [foxglove_bridge-10] [INFO] [1723683403.731583100] [foxglove_bridge]: [WS] asio async_shutdown error: asio.system:9 (Bad file descriptor) [foxglove_bridge-10] [ERROR] [1723683403.731603374] [foxglove_bridge]: [WS] handle_accept error: Operation aborted. [foxglove_bridge-10] [INFO] [1723683403.731611372] [foxglove_bridge]: [WS] Stopping acceptance of new connections because the underlying transport is no longer listening. [foxglove_bridge-10] [INFO] [1723683403.731652310] [foxglove_bridge]: [WS] WebSocket server run loop stopped [foxglove_bridge-10] [INFO] [1723683403.731851019] [foxglove_bridge]: [WS] WebSocket server run loop terminated [foxglove_bridge-10] [INFO] [1723683403.731872413] [foxglove_bridge]: Shutdown complete [bt_navigator-16] [INFO] [1723683403.737533732] [bt_navigator]: Cleaning up [velocity_smoother-18] [INFO] [1723683403.737536101] [velocity_smoother]: Cleaning up [velocity_smoother-18] [INFO] [1723683403.737604664] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager. [smoother_server-13] [INFO] [1723683403.737596568] [smoother_server]: Cleaning up [behavior_server-15] [INFO] [1723683403.737775354] [behavior_server]: Cleaning up [behavior_server-15] [INFO] [1723683403.745450079] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager. [waypoint_follower-17] [INFO] [1723683403.737858909] [waypoint_follower]: Cleaning up [go2_driver_node-4] sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'go2_driver_node')()) [go2_driver_node-4] File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 536, in main [go2_driver_node-4] asyncio.get_event_loop().run_until_complete(start_node()) [go2_driver_node-4] File "/usr/lib/python3.10/asyncio/base_events.py", line 636, in run_until_complete [go2_driver_node-4] self.run_forever() [go2_driver_node-4] File "/usr/lib/python3.10/asyncio/base_events.py", line 603, in run_forever [go2_driver_node-4] self._run_once() [go2_driver_node-4] File "/usr/lib/python3.10/asyncio/base_events.py", line 1871, in _run_once [go2_driver_node-4] event_list = self._selector.select(timeout) [go2_driver_node-4] File "/usr/lib/python3.10/selectors.py", line 469, in select [go2_driver_node-4] fd_event_list = self._selector.poll(timeout, max_ev) [go2_driver_node-4] KeyboardInterrupt [go2_driver_node-4] self.run() [go2_driver_node-4] File "/usr/lib/python3.10/threading.py", line 953, in run [go2_driver_node-4] self._target(*self._args, **self._kwargs) [go2_driver_node-4] File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 497, in _spin [go2_driver_node-4] rclpy.spin_once(node) [go2_driver_node-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 202, in spin_once [go2_driver_node-4] executor.spin_once(timeout_sec=timeout_sec) [go2_driver_node-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once [go2_driver_node-4] self._spin_once_impl(timeout_sec) [go2_driver_node-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl [go2_driver_node-4] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [go2_driver_node-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [go2_driver_node-4] return next(self._cb_iter) [go2_driver_node-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 612, in _wait_for_ready_callbacks [go2_driver_node-4] raise ExternalShutdownException() [go2_driver_node-4] rclpy.executors.ExternalShutdownException [lidar_to_pointcloud-5] Traceback (most recent call last): [lidar_to_pointcloud-5] File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud", line 33, in [lidar_to_pointcloud-5] sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'lidar_to_pointcloud')()) [lidar_to_pointcloud-5] File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/lidar_to_point.py", line 109, in main [lidar_to_pointcloud-5] rclpy.spin(node) [lidar_to_pointcloud-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 222, in spin [lidar_to_pointcloud-5] executor.spin_once() [lidar_to_pointcloud-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once [lidar_to_pointcloud-5] self._spin_once_impl(timeout_sec) [lidar_to_pointcloud-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl [lidar_to_pointcloud-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [lidar_to_pointcloud-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [lidar_to_pointcloud-5] return next(self._cb_iter) [lidar_to_pointcloud-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks [lidar_to_pointcloud-5] wait_set.wait(timeout_nsec) [lidar_to_pointcloud-5] KeyboardInterrupt [waypoint_follower-17] [INFO] [1723683403.749395596] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.

[velocity_smoother-18] [ERROR] [1723683403.755856294] [velocity_smoother]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [velocity_smoother-18] [WARN] [1723683403.755890609] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)

[waypoint_follower-17] [ERROR] [1723683403.768142537] [waypoint_follower]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [waypoint_follower-17] [WARN] [1723683403.768161394] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown) [smoother_server-13] [INFO] [1723683403.774799927] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.

[behavior_server-15] [ERROR] [1723683403.783771211] [behavior_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [behavior_server-15] [WARN] [1723683403.783789639] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown) [lifecycle_manager-19] [INFO] [1723683403.788559247] [lifecycle_manager_navigation]: Destroying lifecycle_manager_navigation

[smoother_server-13] [ERROR] [1723683403.790471830] [smoother_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [smoother_server-13] [WARN] [1723683403.790495235] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown) [bt_navigator-16] [INFO] [1723683403.824550451] [bt_navigator]: Completed Cleaning up [bt_navigator-16] [INFO] [1723683403.824636699] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.

[bt_navigator-16] [ERROR] [1723683403.827902900] [bt_navigator]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [bt_navigator-16] [WARN] [1723683403.827911009] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown) [INFO] [teleop_node-8]: process has finished cleanly [pid 8096] [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 8082] [INFO] [twist_mux-9]: process has finished cleanly [pid 8098] [INFO] [joy_node-7]: process has finished cleanly [pid 8094] [INFO] [pointcloud_to_laserscan_node-3]: process has finished cleanly [pid 8086] [INFO] [foxglove_bridge-10]: process has finished cleanly [pid 8100] [INFO] [velocity_smoother-18]: process has finished cleanly [pid 8116] [INFO] [async_slam_toolbox_node-11]: process has finished cleanly [pid 8102] [INFO] [waypoint_follower-17]: process has finished cleanly [pid 8114] [INFO] [behavior_server-15]: process has finished cleanly [pid 8110] [INFO] [lifecycle_manager-19]: process has finished cleanly [pid 8118] [INFO] [smoother_server-13]: process has finished cleanly [pid 8106] [INFO] [bt_navigator-16]: process has finished cleanly [pid 8112] [ERROR] [go2_driver_node-4]: process has died [pid 8088, exit code -2, cmd '/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node --ros-args --params-file /tmp/launch_params_tvxsd5ui']. [controller_server-12] [INFO] [1723683404.172158483] [local_costmap.local_costmap]: Cleaning up [controller_server-12] [INFO] [1723683404.174773864] [local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager. [controller_server-12] [INFO] [1723683404.174821605] [controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server)

[controller_server-12] [INFO] [1723683404.174885439] [controller_server]: Destroying bond (controller_server) to lifecycle manager. [controller_server-12] [INFO] [1723683404.174934188] [controller_server]: Cleaning up [controller_server-12] [INFO] [1723683404.183157437] [controller_server]: Destroying bond (controller_server) to lifecycle manager.

[controller_server-12] [ERROR] [1723683404.187833551] [local_costmap.local_costmap]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [controller_server-12] [WARN] [1723683404.187855266] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)

[controller_server-12] [ERROR] [1723683404.191270769] [controller_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [controller_server-12] [WARN] [1723683404.191278596] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown) [ERROR] [lidar_to_pointcloud-5]: process has died [pid 8090, exit code -2, cmd '/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud --ros-args --params-file /tmp/launch_params_khul_ago']. [INFO] [controller_server-12]: process has finished cleanly [pid 8104] [planner_server-14] [INFO] [1723683404.394196686] [global_costmap.global_costmap]: Cleaning up [planner_server-14] [INFO] [1723683404.438310033] [global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager. [planner_server-14] [INFO] [1723683404.438363852] [planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server)

[planner_server-14] [INFO] [1723683404.438411563] [planner_server]: Deactivating plugin GridBased of type NavfnPlanner [planner_server-14] [INFO] [1723683404.438422011] [planner_server]: Destroying bond (planner_server) to lifecycle manager. [planner_server-14] [INFO] [1723683404.438486939] [planner_server]: Cleaning up [planner_server-14] [INFO] [1723683404.443251704] [planner_server]: Cleaning up plugin GridBased of type NavfnPlanner [planner_server-14] [INFO] [1723683404.454538735] [planner_server]: Destroying plugin GridBased of type NavfnPlanner [planner_server-14] [INFO] [1723683404.491944196] [planner_server]: Destroying bond (planner_server) to lifecycle manager.

[planner_server-14] [ERROR] [1723683404.493515691] [global_costmap.global_costmap]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [planner_server-14] [WARN] [1723683404.493525820] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)

[planner_server-14] [ERROR] [1723683404.495412894] [planner_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368 [planner_server-14] [WARN] [1723683404.495418851] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown) [INFO] [planner_server-14]: process has finished cleanly [pid 8108]

It seems to me that node with video doest work, can you comment ros2_go2_video node inside launch and try again please?

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#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource

def generate_launch_description():

    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    no_rviz2 = LaunchConfiguration('no_rviz2', default='false')

    robot_token = os.getenv('ROBOT_TOKEN', '')
    robot_ip = os.getenv('ROBOT_IP', '')
    robot_ip_lst = robot_ip.replace(" ", "").split(",")
    conn_mode = "single" if len(robot_ip_lst) == 1 else "multi"

    map_name = os.getenv('MAP_NAME', '3d_map')
    save_map = os.getenv('MAP_SAVE', "true")
    conn_type = os.getenv('CONN_TYPE', 'webrtc')

    if conn_mode == 'single':
        rviz_config = "single_robot_conf.rviz"
    else:
        rviz_config = "multi_robot_conf.rviz"

    if conn_type == 'cyclonedds':
        rviz_config = "cyclonedds_config.rviz"

    urdf_file_name = 'multi_go2.urdf'
    urdf = os.path.join(
        get_package_share_directory('go2_robot_sdk'),
        "urdf",
        urdf_file_name)
    with open(urdf, 'r') as infp:
        robot_desc = infp.read()

    robot_desc_modified_lst = []

    for i in range(len(robot_ip_lst)):
        robot_desc_modified_lst.append(
            robot_desc.format(robot_num=f"robot{i}"))

    urdf_launch_nodes = []

    joy_params = os.path.join(
        get_package_share_directory('go2_robot_sdk'),
        'config', 'joystick.yaml'
    )

    default_config_topics = os.path.join(
        get_package_share_directory('go2_robot_sdk'),
        'config', 'twist_mux.yaml')

    foxglove_launch = os.path.join(
        get_package_share_directory('foxglove_bridge'),
        'launch',
        'foxglove_bridge_launch.xml',
    )

    slam_toolbox_config = os.path.join(
        get_package_share_directory('go2_robot_sdk'),
        'config',
        'mapper_params_online_async.yaml'
    )

    nav2_config = os.path.join(
        get_package_share_directory('go2_robot_sdk'),
        'config',
        'nav2_params.yaml'
    )

    if conn_mode == 'single':

        urdf_file_name = 'go2.urdf'
        urdf = os.path.join(
            get_package_share_directory('go2_robot_sdk'),
            "urdf",
            urdf_file_name)
        with open(urdf, 'r') as infp:
            robot_desc = infp.read()

        urdf_launch_nodes.append(
            Node(
                package='robot_state_publisher',
                executable='robot_state_publisher',
                name='robot_state_publisher',
                output='screen',
                parameters=[{'use_sim_time': use_sim_time,
                             'robot_description': robot_desc}],
                arguments=[urdf]
            ),
        )
        #urdf_launch_nodes.append(
        #    Node(
        #        package='ros2_go2_video',
        #        executable='ros2_go2_video',
        #        parameters=[{'robot_ip': robot_ip_lst[0],
        #                     'robot_token': robot_token}],
        #    ),
        #)

        urdf_launch_nodes.append(
            Node(
                package='pointcloud_to_laserscan',
                executable='pointcloud_to_laserscan_node',
                name='pointcloud_to_laserscan',
                remappings=[
                    ('cloud_in', 'point_cloud2'),
                    ('scan', 'scan'),
                ],
                parameters=[{
                    'target_frame': 'base_link',
                    'max_height': 0.5
                }],
                output='screen',
            ),
        )

    else:

        for i in range(len(robot_ip_lst)):
            urdf_launch_nodes.append(
                Node(
                    package='robot_state_publisher',
                    executable='robot_state_publisher',
                    name='robot_state_publisher',
                    output='screen',
                    namespace=f"robot{i}",
                    parameters=[{'use_sim_time': use_sim_time,
                                 'robot_description': robot_desc_modified_lst[i]}],
                    arguments=[urdf]
                ),
            )
            #urdf_launch_nodes.append(
            #    Node(
            #        package='ros2_go2_video',
            #        executable='ros2_go2_video',
            #        parameters=[{'robot_ip': robot_ip_lst[i],
            #                     'robot_token': robot_token}],
            #    ),
            #)

            urdf_launch_nodes.append(
                Node(
                    package='pointcloud_to_laserscan',
                    executable='pointcloud_to_laserscan_node',
                    name='pointcloud_to_laserscan',
                    remappings=[
                        ('cloud_in', f'robot{i}/point_cloud2'),
                        ('scan', f'robot{i}/scan'),
                    ],
                    parameters=[{
                        'target_frame': f'robot{i}/base_link',
                        'max_height': 0.1
                    }],
                    output='screen',
                ),
            )

    return LaunchDescription([

        *urdf_launch_nodes,
        Node(
            package='go2_robot_sdk',
            executable='go2_driver_node',
            parameters=[{'robot_ip': robot_ip,
                         'token': robot_token, "conn_type": conn_type}],
        ),
        Node(
            package='go2_robot_sdk',
            executable='lidar_to_pointcloud',
            parameters=[{'robot_ip_lst': robot_ip_lst,
                         'map_name': map_name, 'map_save': save_map}],
        ),
        Node(
            package='rviz2',
            namespace='',
            executable='rviz2',
            condition=UnlessCondition(no_rviz2),
            name='rviz2',
            arguments=[
                '-d' + os.path.join(get_package_share_directory('go2_robot_sdk'), 'config', rviz_config)]
        ),

        Node(
            package='joy',
            executable='joy_node',
            parameters=[joy_params]
        ),

        Node(
            package='teleop_twist_joy',
            executable='teleop_node',
            name='teleop_node',
            parameters=[default_config_topics],
        ),

        Node(
            package='twist_mux',
            executable='twist_mux',
            output='screen',
            parameters=[
                {'use_sim_time': use_sim_time},
                default_config_topics
            ],
        ),

        IncludeLaunchDescription(
            FrontendLaunchDescriptionSource(foxglove_launch)
        ),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([
                os.path.join(get_package_share_directory(
                    'slam_toolbox'), 'launch', 'online_async_launch.py')
            ]),
            launch_arguments={
                'params_file': slam_toolbox_config,
                'use_sim_time': use_sim_time,
            }.items(),
        ),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([
                os.path.join(get_package_share_directory(
                    'nav2_bringup'), 'launch', 'navigation_launch.py')
            ]),
            launch_arguments={
                'params_file': nav2_config,
                'use_sim_time': use_sim_time,
            }.items(),
        ),
    ])

Is this the correct way to comment out the node?

ubuntu@B249112:~/ros2_ws$ ros2 launch go2_robot_sdk robot.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-08-15-05-57-45-728270-B249112-5715
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [5719]
[INFO] [pointcloud_to_laserscan_node-2]: process started with pid [5721]
[INFO] [go2_driver_node-3]: process started with pid [5723]
[INFO] [lidar_to_pointcloud-4]: process started with pid [5725]
[INFO] [rviz2-5]: process started with pid [5727]
[INFO] [joy_node-6]: process started with pid [5729]
[INFO] [teleop_node-7]: process started with pid [5731]
[INFO] [twist_mux-8]: process started with pid [5733]
[INFO] [foxglove_bridge-9]: process started with pid [5735]
[INFO] [async_slam_toolbox_node-10]: process started with pid [5737]
[INFO] [controller_server-11]: process started with pid [5739]
[INFO] [smoother_server-12]: process started with pid [5741]
[INFO] [planner_server-13]: process started with pid [5743]
[INFO] [behavior_server-14]: process started with pid [5745]
[INFO] [bt_navigator-15]: process started with pid [5747]
[INFO] [waypoint_follower-16]: process started with pid [5750]
[INFO] [velocity_smoother-17]: process started with pid [5752]
[INFO] [lifecycle_manager-18]: process started with pid [5754]
[twist_mux-8] [INFO] [1723701466.352287136] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 10.
[lifecycle_manager-18] [INFO] [1723701466.357233682] [lifecycle_manager_navigation]: Creating
[twist_mux-8] [INFO] [1723701466.362529725] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 5.
[lifecycle_manager-18] [INFO] [1723701466.367769063] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-13] [INFO] [1723701466.368592153] [planner_server]:
[planner_server-13]     planner_server lifecycle node launched.
[planner_server-13]     Waiting on external lifecycle transitions to activate
[planner_server-13]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-16] [INFO] [1723701466.375231012] [waypoint_follower]:
[waypoint_follower-16]  waypoint_follower lifecycle node launched.
[waypoint_follower-16]  Waiting on external lifecycle transitions to activate
[waypoint_follower-16]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-16] [INFO] [1723701466.377255059] [waypoint_follower]: Creating
[smoother_server-12] [INFO] [1723701466.379160263] [smoother_server]:
[smoother_server-12]    smoother_server lifecycle node launched.
[smoother_server-12]    Waiting on external lifecycle transitions to activate
[smoother_server-12]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-13] [INFO] [1723701466.379964817] [planner_server]: Creating
[smoother_server-12] [INFO] [1723701466.381181325] [smoother_server]: Creating smoother server
[async_slam_toolbox_node-10] [INFO] [1723701466.382994377] [slam_toolbox]: Node using stack size 40000000
[teleop_node-7] [INFO] [1723701466.384250354] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.400000.
[teleop_node-7] [INFO] [1723701466.384345088] [TeleopTwistJoy]: Linear axis y on 0 at scale 0.400000.
[teleop_node-7] [INFO] [1723701466.384355494] [TeleopTwistJoy]: Angular axis yaw on 3 at scale 1.500000.
[controller_server-11] [INFO] [1723701466.386305407] [controller_server]:
[controller_server-11]  controller_server lifecycle node launched.
[controller_server-11]  Waiting on external lifecycle transitions to activate
[controller_server-11]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[robot_state_publisher-1] [INFO] [1723701466.389418134] [robot_state_publisher]: got segment FL_calf
[robot_state_publisher-1] [INFO] [1723701466.389637429] [robot_state_publisher]: got segment FL_calflower
[robot_state_publisher-1] [INFO] [1723701466.389651387] [robot_state_publisher]: got segment FL_calflower1
[robot_state_publisher-1] [INFO] [1723701466.389658495] [robot_state_publisher]: got segment FL_foot
[robot_state_publisher-1] [INFO] [1723701466.389664499] [robot_state_publisher]: got segment FL_hip
[robot_state_publisher-1] [INFO] [1723701466.389670268] [robot_state_publisher]: got segment FL_thigh
[robot_state_publisher-1] [INFO] [1723701466.389676941] [robot_state_publisher]: got segment FR_calf
[robot_state_publisher-1] [INFO] [1723701466.389683163] [robot_state_publisher]: got segment FR_calflower
[robot_state_publisher-1] [INFO] [1723701466.389688429] [robot_state_publisher]: got segment FR_calflower1
[robot_state_publisher-1] [INFO] [1723701466.389693424] [robot_state_publisher]: got segment FR_foot
[robot_state_publisher-1] [INFO] [1723701466.389698691] [robot_state_publisher]: got segment FR_hip
[robot_state_publisher-1] [INFO] [1723701466.389704046] [robot_state_publisher]: got segment FR_thigh
[robot_state_publisher-1] [INFO] [1723701466.389709284] [robot_state_publisher]: got segment Head_lower
[robot_state_publisher-1] [INFO] [1723701466.389714756] [robot_state_publisher]: got segment Head_upper
[robot_state_publisher-1] [INFO] [1723701466.389721255] [robot_state_publisher]: got segment RL_calf
[robot_state_publisher-1] [INFO] [1723701466.389725846] [robot_state_publisher]: got segment RL_calflower
[robot_state_publisher-1] [INFO] [1723701466.389731054] [robot_state_publisher]: got segment RL_calflower1
[robot_state_publisher-1] [INFO] [1723701466.389736322] [robot_state_publisher]: got segment RL_foot
[robot_state_publisher-1] [INFO] [1723701466.389741524] [robot_state_publisher]: got segment RL_hip
[robot_state_publisher-1] [INFO] [1723701466.389746558] [robot_state_publisher]: got segment RL_thigh
[robot_state_publisher-1] [INFO] [1723701466.389751194] [robot_state_publisher]: got segment RR_calf
[robot_state_publisher-1] [INFO] [1723701466.389757255] [robot_state_publisher]: got segment RR_calflower
[robot_state_publisher-1] [INFO] [1723701466.389762387] [robot_state_publisher]: got segment RR_calflower1
[robot_state_publisher-1] [INFO] [1723701466.389767752] [robot_state_publisher]: got segment RR_foot
[robot_state_publisher-1] [INFO] [1723701466.389772757] [robot_state_publisher]: got segment RR_hip
[robot_state_publisher-1] [INFO] [1723701466.389778260] [robot_state_publisher]: got segment RR_thigh
[robot_state_publisher-1] [INFO] [1723701466.389783078] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1723701466.389788431] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1723701466.389793007] [robot_state_publisher]: got segment front_camera
[robot_state_publisher-1] [INFO] [1723701466.389797867] [robot_state_publisher]: got segment imu
[robot_state_publisher-1] [INFO] [1723701466.389803139] [robot_state_publisher]: got segment map
[robot_state_publisher-1] [INFO] [1723701466.389807676] [robot_state_publisher]: got segment odom
[robot_state_publisher-1] [INFO] [1723701466.389811939] [robot_state_publisher]: got segment radar
[velocity_smoother-17] [INFO] [1723701466.390355579] [velocity_smoother]:
[velocity_smoother-17]  velocity_smoother lifecycle node launched.
[velocity_smoother-17]  Waiting on external lifecycle transitions to activate
[velocity_smoother-17]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-11] [INFO] [1723701466.394306404] [controller_server]: Creating controller server
[bt_navigator-15] [INFO] [1723701466.397189247] [bt_navigator]:
[bt_navigator-15]       bt_navigator lifecycle node launched.
[bt_navigator-15]       Waiting on external lifecycle transitions to activate
[bt_navigator-15]       See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-15] [INFO] [1723701466.397439894] [bt_navigator]: Creating
[behavior_server-14] [INFO] [1723701466.411250081] [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.
[planner_server-13] [INFO] [1723701466.424009953] [global_costmap.global_costmap]:
[planner_server-13]     global_costmap lifecycle node launched.
[planner_server-13]     Waiting on external lifecycle transitions to activate
[planner_server-13]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-13] [INFO] [1723701466.426353242] [global_costmap.global_costmap]: Creating Costmap
[foxglove_bridge-9] [INFO] [1723701466.427169240] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so
[foxglove_bridge-9] [INFO] [1723701466.451304088] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[controller_server-11] [INFO] [1723701466.452504053] [local_costmap.local_costmap]:
[controller_server-11]  local_costmap lifecycle node launched.
[controller_server-11]  Waiting on external lifecycle transitions to activate
[controller_server-11]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-11] [INFO] [1723701466.453067802] [local_costmap.local_costmap]: Creating Costmap
[foxglove_bridge-9] [INFO] [1723701466.453212336] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-9] [INFO] [1723701466.467320751] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.7.7@) with WebSocket++/0.8.2
[foxglove_bridge-9] [INFO] [1723701466.468499127] [foxglove_bridge]: [WS] Server running without TLS
[foxglove_bridge-9] [INFO] [1723701466.473405137] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765
[foxglove_bridge-9] [INFO] [1723701466.473406421] [foxglove_bridge]: [WS] WebSocket server run loop started
[async_slam_toolbox_node-10] [INFO] [1723701466.483527278] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-10] [INFO] [1723701466.483747921] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[lifecycle_manager-18] [INFO] [1723701466.501245421] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-18] [INFO] [1723701466.501363525] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-11] [INFO] [1723701466.501935380] [controller_server]: Configuring controller interface
[controller_server-11] [INFO] [1723701466.502319788] [controller_server]: getting goal checker plugins..
[controller_server-11] [INFO] [1723701466.502481421] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-11] [INFO] [1723701466.502544661] [local_costmap.local_costmap]: Configuring
[controller_server-11] [INFO] [1723701466.507896432] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-11] [INFO] [1723701466.515218349] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-11] [INFO] [1723701466.517082188] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-11] [INFO] [1723701466.517116288] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-11] [INFO] [1723701466.518435089] [local_costmap.local_costmap]: Subscribed to Topics: scan
[pointcloud_to_laserscan_node-2] [INFO] [1723701466.526316539] [pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber
[controller_server-11] [INFO] [1723701466.538348593] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-11] [INFO] [1723701466.538394754] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-11] [INFO] [1723701466.538875833] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-11] [INFO] [1723701466.575358133] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-11] [INFO] [1723701466.579070322] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-11] [INFO] [1723701466.581426539] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-11] [INFO] [1723701466.592565422] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-11] [INFO] [1723701466.593123410] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-11] [INFO] [1723701466.614607359] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-11] [INFO] [1723701466.615262639] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.615430268] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-11] [INFO] [1723701466.615748763] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.615910571] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-11] [INFO] [1723701466.616077357] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.616175751] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-11] [INFO] [1723701466.616577632] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.616687730] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-11] [INFO] [1723701466.616978782] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.617057272] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-11] [INFO] [1723701466.617238063] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.617326495] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-11] [INFO] [1723701466.617505969] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1723701466.617527973] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-18] [INFO] [1723701466.631208767] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-12] [INFO] [1723701466.631765174] [smoother_server]: Configuring smoother server
[smoother_server-12] [INFO] [1723701466.645784764] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-12] [INFO] [1723701466.646320369] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-18] [INFO] [1723701466.653203946] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-13] [INFO] [1723701466.653930628] [planner_server]: Configuring
[planner_server-13] [INFO] [1723701466.653981622] [global_costmap.global_costmap]: Configuring
[planner_server-13] [INFO] [1723701466.765702500] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-13] [INFO] [1723701466.771748896] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-13] [INFO] [1723701466.774318412] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-13] [INFO] [1723701466.774394557] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-13] [INFO] [1723701466.775470413] [global_costmap.global_costmap]: Subscribed to Topics: scan
[rviz2-5] [INFO] [1723701466.986100066] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1723701466.986301540] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-5] [INFO] [1723701467.032099853] [rviz2]: Stereo is NOT SUPPORTED
[planner_server-13] [INFO] [1723701467.072333884] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-13] [INFO] [1723701467.072700551] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-13] [INFO] [1723701467.080121919] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-13] [INFO] [1723701467.090721834] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-13] [INFO] [1723701467.090783024] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[pointcloud_to_laserscan_node-2] [WARN] [1723701467.150006367] [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
[planner_server-13] [INFO] [1723701467.203747921] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-18] [INFO] [1723701467.223836780] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-14] [INFO] [1723701467.224393328] [behavior_server]: Configuring
[behavior_server-14] [INFO] [1723701467.237543711] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-14] [INFO] [1723701467.240340570] [behavior_server]: Configuring spin
[behavior_server-14] [INFO] [1723701467.247598510] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-14] [INFO] [1723701467.250662773] [behavior_server]: Configuring backup
[behavior_server-14] [INFO] [1723701467.256091939] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-14] [INFO] [1723701467.258135462] [behavior_server]: Configuring drive_on_heading
[behavior_server-14] [INFO] [1723701467.264000779] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-14] [INFO] [1723701467.267305469] [behavior_server]: Configuring assisted_teleop
[behavior_server-14] [INFO] [1723701467.273282033] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-14] [INFO] [1723701467.275815810] [behavior_server]: Configuring wait
[lifecycle_manager-18] [INFO] [1723701467.283004116] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-15] [INFO] [1723701467.283369309] [bt_navigator]: Configuring
[lifecycle_manager-18] [INFO] [1723701467.395121273] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-16] [INFO] [1723701467.395601303] [waypoint_follower]: Configuring
[waypoint_follower-16] [INFO] [1723701467.407424856] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-18] [INFO] [1723701467.409564579] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-17] [INFO] [1723701467.410113554] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-18] [INFO] [1723701467.417279339] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-11] [INFO] [1723701467.417507301] [controller_server]: Activating
[controller_server-11] [INFO] [1723701467.417567797] [local_costmap.local_costmap]: Activating
[controller_server-11] [INFO] [1723701467.417588824] [local_costmap.local_costmap]: Checking transform
[controller_server-11] [INFO] [1723701467.417744903] [local_costmap.local_costmap]: start
[go2_driver_node-3] [INFO] [1723701467.513427735] [go2_driver_node]: Received ip list: ['192.168.0.176']
[go2_driver_node-3] [INFO] [1723701467.513728617] [go2_driver_node]: Connection type is webrtc
[go2_driver_node-3] [INFO] [1723701467.513939726] [go2_driver_node]: Connection mode is single
[rviz2-5] [ERROR] [1723701467.769418574] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-5]
[rviz2-5] [ERROR] [1723701467.769585283] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-5]
[rviz2-5] [INFO] [1723701467.820161984] [rviz2]: Stereo is NOT SUPPORTED
[controller_server-11] [INFO] [1723701468.419163982] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701468.528267579] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-18] [INFO] [1723701468.528372183] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-12] [INFO] [1723701468.528960186] [smoother_server]: Activating
[smoother_server-12] [INFO] [1723701468.529044215] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701468.638566554] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-18] [INFO] [1723701468.638640485] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-13] [INFO] [1723701468.639133855] [planner_server]: Activating
[planner_server-13] [INFO] [1723701468.639222210] [global_costmap.global_costmap]: Activating
[planner_server-13] [INFO] [1723701468.639251029] [global_costmap.global_costmap]: Checking transform
[planner_server-13] [INFO] [1723701468.639473813] [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] [1723701469.313204573] [lidar_to_pointcloud]: Map will be saved
[lidar_to_pointcloud-4] [INFO] [1723701469.313524731] [lidar_to_pointcloud]: Map name is 3d_map.ply
[planner_server-13] [INFO] [1723701470.391461971] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-13] [INFO] [1723701470.395090774] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701470.499741653] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-18] [INFO] [1723701470.499857956] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-14] [INFO] [1723701470.500758264] [behavior_server]: Activating
[behavior_server-14] [INFO] [1723701470.500833454] [behavior_server]: Activating spin
[behavior_server-14] [INFO] [1723701470.500871265] [behavior_server]: Activating backup
[behavior_server-14] [INFO] [1723701470.500893948] [behavior_server]: Activating drive_on_heading
[behavior_server-14] [INFO] [1723701470.500915216] [behavior_server]: Activating assisted_teleop
[behavior_server-14] [INFO] [1723701470.500936962] [behavior_server]: Activating wait
[behavior_server-14] [INFO] [1723701470.500974182] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701470.609003833] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-18] [INFO] [1723701470.609149851] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-15] [INFO] [1723701470.610592279] [bt_navigator]: Activating
[bt_navigator-15] [INFO] [1723701470.780235506] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701470.894646886] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-18] [INFO] [1723701470.894818310] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-16] [INFO] [1723701470.895792775] [waypoint_follower]: Activating
[waypoint_follower-16] [INFO] [1723701470.895901613] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701471.003445892] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-18] [INFO] [1723701471.003625385] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-17] [INFO] [1723701471.004697436] [velocity_smoother]: Activating
[velocity_smoother-17] [INFO] [1723701471.004923039] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701471.121583061] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-18] [INFO] [1723701471.121779390] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-18] [INFO] [1723701471.121819503] [lifecycle_manager_navigation]: Creating bond timer...
[controller_server-11] [WARN] [1723701477.418307153] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-13] [WARN] [1723701478.996816151] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[INFO] [rviz2-5]: process has finished cleanly [pid 5727]
[foxglove_bridge-9] [INFO] [1723701481.957902750] [foxglove_bridge]: Removed channel 62 for topic "/clicked_point" (geometry_msgs/msg/PointStamped)
[foxglove_bridge-9] [INFO] [1723701481.958047893] [foxglove_bridge]: Removed channel 53 for topic "/map_updates" (map_msgs/msg/OccupancyGridUpdate)
[foxglove_bridge-9] [INFO] [1723701481.958063211] [foxglove_bridge]: Removed channel 55 for topic "/initialpose" (geometry_msgs/msg/PoseWithCovarianceStamped)
[foxglove_bridge-9] [INFO] [1723701481.958075174] [foxglove_bridge]: Removed channel 56 for topic "/go2_camera/color/image" (sensor_msgs/msg/Image)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[velocity_smoother-17] [INFO] [1723701482.537730756] [rclcpp]: signal_handler(signum=2)
[velocity_smoother-17] [INFO] [1723701482.538097619] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)
[planner_server-13] [INFO] [1723701482.537733143] [rclcpp]: signal_handler(signum=2)
[planner_server-13] [INFO] [1723701482.538073826] [global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)
[planner_server-13] [INFO] [1723701482.538279665] [global_costmap.global_costmap]: Deactivating
[bt_navigator-15] [INFO] [1723701482.537734015] [rclcpp]: signal_handler(signum=2)
[bt_navigator-15] [INFO] [1723701482.538139126] [bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator)
[bt_navigator-15] [INFO] [1723701482.538433637] [bt_navigator]: Deactivating
[bt_navigator-15] [INFO] [1723701482.538490824] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-18] [INFO] [1723701482.537731093] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-18] [INFO] [1723701482.538068438] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation)
[lifecycle_manager-18] [INFO] [1723701482.538201737] [lifecycle_manager_navigation]: Terminating bond timer...
[smoother_server-12] [INFO] [1723701482.537744357] [rclcpp]: signal_handler(signum=2)
[smoother_server-12] [INFO] [1723701482.538096519] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server)
[smoother_server-12] [INFO] [1723701482.538328813] [smoother_server]: Deactivating
[smoother_server-12] [INFO] [1723701482.538382236] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[waypoint_follower-16] [INFO] [1723701482.537747518] [rclcpp]: signal_handler(signum=2)
[waypoint_follower-16] [INFO] [1723701482.538427027] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)
[twist_mux-8] [INFO] [1723701482.537798914] [rclcpp]: signal_handler(signum=2)
[controller_server-11] [INFO] [1723701482.537834403] [rclcpp]: signal_handler(signum=2)
[controller_server-11] [INFO] [1723701482.538096794] [local_costmap.local_costmap]: Running Nav2 LifecycleNode rcl preshutdown (local_costmap)
[controller_server-11] [INFO] [1723701482.538296103] [local_costmap.local_costmap]: Deactivating
[behavior_server-14] [INFO] [1723701482.537834681] [rclcpp]: signal_handler(signum=2)
[behavior_server-14] [INFO] [1723701482.538466896] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[behavior_server-14] [INFO] [1723701482.538631978] [behavior_server]: Deactivating
[behavior_server-14] [INFO] [1723701482.538708938] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[pointcloud_to_laserscan_node-2] [INFO] [1723701482.537831796] [rclcpp]: signal_handler(signum=2)
[joy_node-6] [INFO] [1723701482.537797638] [rclcpp]: signal_handler(signum=2)
[foxglove_bridge-9] [INFO] [1723701482.537863283] [rclcpp]: signal_handler(signum=2)
[teleop_node-7] [INFO] [1723701482.537871132] [rclcpp]: signal_handler(signum=2)
[async_slam_toolbox_node-10] [INFO] [1723701482.537855870] [rclcpp]: signal_handler(signum=2)
[go2_driver_node-3] Traceback (most recent call last):
[go2_driver_node-3]   File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node", line 33, in <module>
[go2_driver_node-3] Exception in thread Thread-1 (_spin):
[go2_driver_node-3] Traceback (most recent call last):
[go2_driver_node-3]   File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
[robot_state_publisher-1] [INFO] [1723701482.538056769] [rclcpp]: signal_handler(signum=2)
[velocity_smoother-17] [INFO] [1723701482.538690588] [velocity_smoother]: Deactivating
[velocity_smoother-17] [INFO] [1723701482.538798108] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[velocity_smoother-17] [INFO] [1723701482.549898404] [velocity_smoother]: Cleaning up
[velocity_smoother-17] [INFO] [1723701482.550115654] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[waypoint_follower-16] [INFO] [1723701482.538632098] [waypoint_follower]: Deactivating
[waypoint_follower-16] [INFO] [1723701482.538681780] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[waypoint_follower-16] [INFO] [1723701482.549487195] [waypoint_follower]: Cleaning up
[go2_driver_node-3]     sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'go2_driver_node')())
[go2_driver_node-3]   File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 536, in main
[go2_driver_node-3]     asyncio.get_event_loop().run_until_complete(start_node())
[go2_driver_node-3]   File "/usr/lib/python3.10/asyncio/base_events.py", line 636, in run_until_complete
[go2_driver_node-3]     self.run_forever()
[go2_driver_node-3]   File "/usr/lib/python3.10/asyncio/base_events.py", line 603, in run_forever
[go2_driver_node-3]     self.run()
[go2_driver_node-3]   File "/usr/lib/python3.10/threading.py", line 953, in run
[go2_driver_node-3]     self._run_once()
[go2_driver_node-3]   File "/usr/lib/python3.10/asyncio/base_events.py", line 1871, in _run_once
[go2_driver_node-3]     event_list = self._selector.select(timeout)
[go2_driver_node-3]   File "/usr/lib/python3.10/selectors.py", line 469, in select
[go2_driver_node-3]     self._target(*self._args, **self._kwargs)
[go2_driver_node-3]   File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/go2_driver_node.py", line 497, in _spin
[go2_driver_node-3]     rclpy.spin_once(node)
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once
[go2_driver_node-3]     executor.spin_once(timeout_sec=timeout_sec)
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
[go2_driver_node-3]     self._spin_once_impl(timeout_sec)
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl
[go2_driver_node-3]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks
[go2_driver_node-3]     return next(self._cb_iter)
[go2_driver_node-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 612, in _wait_for_ready_callbacks
[go2_driver_node-3]     fd_event_list = self._selector.poll(timeout, max_ev)
[go2_driver_node-3] KeyboardInterrupt
[go2_driver_node-3]     raise ExternalShutdownException()
[go2_driver_node-3] rclpy.executors.ExternalShutdownException
[lidar_to_pointcloud-4] Traceback (most recent call last):
[lidar_to_pointcloud-4]   File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud", line 33, in <module>
[lidar_to_pointcloud-4]     sys.exit(load_entry_point('go2-robot-sdk==0.0.0', 'console_scripts', 'lidar_to_pointcloud')())
[lidar_to_pointcloud-4]   File "/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/python3.10/site-packages/go2_robot_sdk/lidar_to_point.py", line 109, in main
[lidar_to_pointcloud-4]     rclpy.spin(node)
[lidar_to_pointcloud-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
[lidar_to_pointcloud-4]     executor.spin_once()
[lidar_to_pointcloud-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
[lidar_to_pointcloud-4]     self._spin_once_impl(timeout_sec)
[lidar_to_pointcloud-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl
[lidar_to_pointcloud-4]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
[lidar_to_pointcloud-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks
[lidar_to_pointcloud-4]     return next(self._cb_iter)
[lidar_to_pointcloud-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks
[lidar_to_pointcloud-4]     wait_set.wait(timeout_nsec)
[lidar_to_pointcloud-4] KeyboardInterrupt
[foxglove_bridge-9] [INFO] [1723701482.545040136] [foxglove_bridge]: Shutting down foxglove_bridge
[foxglove_bridge-9] [INFO] [1723701482.545167907] [foxglove_bridge]: [WS] Stopping WebSocket server
[foxglove_bridge-9] [INFO] [1723701482.545290246] [foxglove_bridge]: [WS] All WebSocket connections closed
[foxglove_bridge-9] [INFO] [1723701482.545299951] [foxglove_bridge]: [WS] Waiting for WebSocket server run loop to terminate
[foxglove_bridge-9] [INFO] [1723701482.545672797] [foxglove_bridge]: [WS] asio handle_accept error: asio.system:125 (Operation aborted.)
[foxglove_bridge-9] [INFO] [1723701482.545767614] [foxglove_bridge]: [WS] Error getting remote endpoint: asio.system:9 (Bad file descriptor)
[foxglove_bridge-9] [INFO] [1723701482.546101665] [foxglove_bridge]: [WS] asio async_shutdown error: asio.system:9 (Bad file descriptor)
[foxglove_bridge-9] [ERROR] [1723701482.546132972] [foxglove_bridge]: [WS] handle_accept error: Operation aborted.
[foxglove_bridge-9] [INFO] [1723701482.546144125] [foxglove_bridge]: [WS] Stopping acceptance of new connections because the underlying transport is no longer listening.
[foxglove_bridge-9] [INFO] [1723701482.546201179] [foxglove_bridge]: [WS] WebSocket server run loop stopped
[foxglove_bridge-9] [INFO] [1723701482.546389602] [foxglove_bridge]: [WS] WebSocket server run loop terminated
[foxglove_bridge-9] [INFO] [1723701482.546447287] [foxglove_bridge]: Shutdown complete
[smoother_server-12] [INFO] [1723701482.550016343] [smoother_server]: Cleaning up
[bt_navigator-15] [INFO] [1723701482.549987100] [bt_navigator]: Cleaning up
[behavior_server-14] [INFO] [1723701482.550487367] [behavior_server]: Cleaning up
[behavior_server-14] [INFO] [1723701482.571026564] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[velocity_smoother-17] [INFO] [1723701482.579503543] [velocity_smoother]: Destroying
[velocity_smoother-17] [ERROR] [1723701482.579739315] [velocity_smoother]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[velocity_smoother-17] [WARN] [1723701482.579790346] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[waypoint_follower-16] [INFO] [1723701482.587085190] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[smoother_server-12] [INFO] [1723701482.615384149] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[waypoint_follower-16] [INFO] [1723701482.624279166] [waypoint_follower]: Destroying
[waypoint_follower-16] [ERROR] [1723701482.624557637] [waypoint_follower]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[waypoint_follower-16] [WARN] [1723701482.624586604] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[planner_server-13] [INFO] [1723701482.639889954] [global_costmap.global_costmap]: Cleaning up
[smoother_server-12] [INFO] [1723701482.640348831] [smoother_server]: Destroying
[smoother_server-12] [ERROR] [1723701482.640484120] [smoother_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[smoother_server-12] [WARN] [1723701482.640506821] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[behavior_server-14] [INFO] [1723701482.655898010] [behavior_server]: Destroying
[behavior_server-14] [ERROR] [1723701482.656137037] [behavior_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[behavior_server-14] [WARN] [1723701482.656168446] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[lifecycle_manager-18] [INFO] [1723701482.661212417] [lifecycle_manager_navigation]: Destroying lifecycle_manager_navigation
[planner_server-13] [INFO] [1723701482.689075425] [global_costmap.global_costmap]: Destroying bond (global_costmap) to lifecycle manager.
[planner_server-13] [INFO] [1723701482.689169045] [planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server)
[planner_server-13] [INFO] [1723701482.689207204] [planner_server]: Deactivating
[planner_server-13] [INFO] [1723701482.689235387] [planner_server]: Deactivating plugin GridBased of type NavfnPlanner
[planner_server-13] [INFO] [1723701482.689251483] [planner_server]: Destroying bond (planner_server) to lifecycle manager.
[planner_server-13] [INFO] [1723701482.689374687] [planner_server]: Cleaning up
[planner_server-13] [INFO] [1723701482.692987958] [planner_server]: Cleaning up plugin GridBased of type NavfnPlanner
[bt_navigator-15] [INFO] [1723701482.694437942] [bt_navigator]: Completed Cleaning up
[bt_navigator-15] [INFO] [1723701482.694664031] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[planner_server-13] [INFO] [1723701482.701452359] [planner_server]: Destroying plugin GridBased of type NavfnPlanner
[bt_navigator-15] [INFO] [1723701482.702529320] [bt_navigator]: Destroying
[bt_navigator-15] [ERROR] [1723701482.702640461] [bt_navigator]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[bt_navigator-15] [WARN] [1723701482.702662146] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[INFO] [teleop_node-7]: process has finished cleanly [pid 5731]
[INFO] [twist_mux-8]: process has finished cleanly [pid 5733]
[planner_server-13] [INFO] [1723701482.736098398] [planner_server]: Destroying bond (planner_server) to lifecycle manager.
[planner_server-13] [INFO] [1723701482.737226111] [global_costmap.global_costmap]: Destroying
[planner_server-13] [ERROR] [1723701482.737264053] [global_costmap.global_costmap]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[planner_server-13] [WARN] [1723701482.737271160] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 5719]
[planner_server-13] [INFO] [1723701482.740691816] [planner_server]: Destroying
[planner_server-13] [ERROR] [1723701482.740744269] [planner_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[planner_server-13] [WARN] [1723701482.740751329] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[INFO] [foxglove_bridge-9]: process has finished cleanly [pid 5735]
[INFO] [pointcloud_to_laserscan_node-2]: process has finished cleanly [pid 5721]
[INFO] [joy_node-6]: process has finished cleanly [pid 5729]
[INFO] [velocity_smoother-17]: process has finished cleanly [pid 5752]
[INFO] [waypoint_follower-16]: process has finished cleanly [pid 5750]
[INFO] [smoother_server-12]: process has finished cleanly [pid 5741]
[INFO] [lifecycle_manager-18]: process has finished cleanly [pid 5754]
[INFO] [behavior_server-14]: process has finished cleanly [pid 5745]
[ERROR] [async_slam_toolbox_node-10]: process has died [pid 5737, exit code -11, cmd '/opt/ros/humble/lib/slam_toolbox/async_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file /opt/ros/humble/share/slam_toolbox/config/mapper_params_online_async.yaml --params-file /tmp/launch_params_dj54v1m2'].
[INFO] [bt_navigator-15]: process has finished cleanly [pid 5747]
[INFO] [planner_server-13]: process has finished cleanly [pid 5743]
[ERROR] [go2_driver_node-3]: process has died [pid 5723, exit code -2, cmd '/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/go2_driver_node --ros-args --params-file /tmp/launch_params__ctx8l0t'].
[ERROR] [lidar_to_pointcloud-4]: process has died [pid 5725, exit code -2, cmd '/home/ubuntu/ros2_ws/install/go2_robot_sdk/lib/go2_robot_sdk/lidar_to_pointcloud --ros-args --params-file /tmp/launch_params_e35xhurs'].
[controller_server-11] [INFO] [1723701483.418107239] [local_costmap.local_costmap]: Cleaning up
[controller_server-11] [INFO] [1723701483.422904515] [local_costmap.local_costmap]: Destroying bond (local_costmap) to lifecycle manager.
[controller_server-11] [INFO] [1723701483.422966882] [controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server)
[controller_server-11] [INFO] [1723701483.422997341] [controller_server]: Deactivating
[controller_server-11] [INFO] [1723701483.423052696] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[controller_server-11] [INFO] [1723701483.423136501] [controller_server]: Cleaning up
[controller_server-11] [INFO] [1723701483.435935718] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[controller_server-11] [INFO] [1723701483.441245353] [local_costmap.local_costmap]: Destroying
[controller_server-11] [ERROR] [1723701483.441366537] [local_costmap.local_costmap]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[controller_server-11] [WARN] [1723701483.441381907] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[controller_server-11] [INFO] [1723701483.447574172] [controller_server]: Destroying
[controller_server-11] [ERROR] [1723701483.447633738] [controller_server]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368
[controller_server-11] [WARN] [1723701483.447651665] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(shuttingdown)
[INFO] [controller_server-11]: process has finished cleanly [pid 5739]

I haven't checked everything, but the output screen in RViz is in the same condition as before.

What ubuntu version are you using?

i use ubuntu 22.04 ros2 humble

abizovnuralem / go2_ros2_sdk

how to connect by cyclonedds #67