Can't update static costmap layer, no map received. Connecting to the GO2 Robot Via cyclonedds

[Erenrobot]

Hello, I am trying to launch "ros2 launch go2_robot_sdk robot.launch.py" file but It is not showing anything on RVIZ(I am using ROS2 humble on Ubuntu 22.04). There is no connection error and I have already tried the IP address export ROBOT_IP="192.168.123.222" is working on the official python and C++ SDK of Unitree Robotics.

The ros2 node list is: /behavior_server /bt_navigator /bt_navigator_navigate_through_poses_rclcpp_node /bt_navigator_navigate_to_pose_rclcpp_node /controller_server /foxglove_bridge /foxglove_bridge_component_manager /global_costmap/global_costmap /go2_driver_node /joy_node /lidar_to_pointcloud /lifecycle_manager_navigation /local_costmap/local_costmap /planner_server /pointcloud_to_laserscan /robot_state_publisher /rviz2 /slam_toolbox /smoother_server /teleop_node /transform_listener_impl_556ce3c99620 /transform_listener_impl_55b04bf80370 /transform_listener_impl_5d78826f8b20 /transform_listener_impl_755eec01beb0 /transform_listener_impl_79d6d0002450 /transform_listener_impl_7c25dc008020 /transform_listener_impl_7fb0b8008a50 /twist_mux /velocity_smoother /waypoint_follower

It only allows me to change the topic to /robot_description which is only the robot body without legs and other components.

The output of launch is:

eren@eren:~/go2Sim_ws$ ros2 launch go2_robot_sdk robot.launch.py [INFO] [launch]: All log files can be found below /home/eren/.ros/log/2024-09-24-19-44-33-729942-eren-74228 [INFO] [launch]: Default logging verbosity is set to INFO IP list: ['192.168.123.222'] [INFO] [robot_state_publisher-1]: process started with pid [74230] [INFO] [pointcloud_to_laserscan_node-2]: process started with pid [74232] [INFO] [go2_driver_node-3]: process started with pid [74234] [INFO] [lidar_to_pointcloud-4]: process started with pid [74236] [INFO] [rviz2-5]: process started with pid [74238] [INFO] [joy_node-6]: process started with pid [74240] [INFO] [teleop_node-7]: process started with pid [74242] [INFO] [twist_mux-8]: process started with pid [74244] [INFO] [foxglove_bridge-9]: process started with pid [74246] [INFO] [async_slam_toolbox_node-10]: process started with pid [74248] [INFO] [controller_server-11]: process started with pid [74250] [INFO] [smoother_server-12]: process started with pid [74252] [INFO] [planner_server-13]: process started with pid [74255] [INFO] [behavior_server-14]: process started with pid [74259] [INFO] [bt_navigator-15]: process started with pid [74261] [INFO] [waypoint_follower-16]: process started with pid [74263] [INFO] [velocity_smoother-17]: process started with pid [74266] [INFO] [lifecycle_manager-18]: process started with pid [74269] [rviz2-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [twist_mux-8] [INFO] [1727232274.114590363] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 10. [twist_mux-8] [INFO] [1727232274.114879369] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 5. [robot_state_publisher-1] [INFO] [1727232274.117613452] [robot_state_publisher]: got segment FL_calf [robot_state_publisher-1] [INFO] [1727232274.117659034] [robot_state_publisher]: got segment FL_calflower [robot_state_publisher-1] [INFO] [1727232274.117666826] [robot_state_publisher]: got segment FL_calflower1 [robot_state_publisher-1] [INFO] [1727232274.117672110] [robot_state_publisher]: got segment FL_foot [robot_state_publisher-1] [INFO] [1727232274.117676750] [robot_state_publisher]: got segment FL_hip [robot_state_publisher-1] [INFO] [1727232274.117682396] [robot_state_publisher]: got segment FL_thigh [robot_state_publisher-1] [INFO] [1727232274.117687066] [robot_state_publisher]: got segment FR_calf [robot_state_publisher-1] [INFO] [1727232274.117691684] [robot_state_publisher]: got segment FR_calflower [robot_state_publisher-1] [INFO] [1727232274.117696309] [robot_state_publisher]: got segment FR_calflower1 [robot_state_publisher-1] [INFO] [1727232274.117700273] [robot_state_publisher]: got segment FR_foot [robot_state_publisher-1] [INFO] [1727232274.117704404] [robot_state_publisher]: got segment FR_hip [robot_state_publisher-1] [INFO] [1727232274.117708761] [robot_state_publisher]: got segment FR_thigh [robot_state_publisher-1] [INFO] [1727232274.117712902] [robot_state_publisher]: got segment Head_lower [robot_state_publisher-1] [INFO] [1727232274.117717062] [robot_state_publisher]: got segment Head_upper [robot_state_publisher-1] [INFO] [1727232274.117721552] [robot_state_publisher]: got segment RL_calf [robot_state_publisher-1] [INFO] [1727232274.117726005] [robot_state_publisher]: got segment RL_calflower [robot_state_publisher-1] [INFO] [1727232274.117730223] [robot_state_publisher]: got segment RL_calflower1 [robot_state_publisher-1] [INFO] [1727232274.117733888] [robot_state_publisher]: got segment RL_foot [robot_state_publisher-1] [INFO] [1727232274.117737821] [robot_state_publisher]: got segment RL_hip [robot_state_publisher-1] [INFO] [1727232274.117741699] [robot_state_publisher]: got segment RL_thigh [robot_state_publisher-1] [INFO] [1727232274.117746121] [robot_state_publisher]: got segment RR_calf [robot_state_publisher-1] [INFO] [1727232274.117750798] [robot_state_publisher]: got segment RR_calflower [robot_state_publisher-1] [INFO] [1727232274.117754785] [robot_state_publisher]: got segment RR_calflower1 [robot_state_publisher-1] [INFO] [1727232274.117758854] [robot_state_publisher]: got segment RR_foot [robot_state_publisher-1] [INFO] [1727232274.117763170] [robot_state_publisher]: got segment RR_hip [robot_state_publisher-1] [INFO] [1727232274.117767370] [robot_state_publisher]: got segment RR_thigh [robot_state_publisher-1] [INFO] [1727232274.117772014] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1727232274.117776209] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1727232274.117780217] [robot_state_publisher]: got segment front_camera [robot_state_publisher-1] [INFO] [1727232274.117784775] [robot_state_publisher]: got segment imu [robot_state_publisher-1] [INFO] [1727232274.117789503] [robot_state_publisher]: got segment map [robot_state_publisher-1] [INFO] [1727232274.117793869] [robot_state_publisher]: got segment odom [robot_state_publisher-1] [INFO] [1727232274.117798436] [robot_state_publisher]: got segment radar [async_slam_toolbox_node-10] [INFO] [1727232274.118609886] [slam_toolbox]: Node using stack size 40000000 [teleop_node-7] [INFO] [1727232274.119112610] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.200000. [teleop_node-7] [INFO] [1727232274.119134756] [TeleopTwistJoy]: Linear axis y on 3 at scale 0.200000. [teleop_node-7] [INFO] [1727232274.119137963] [TeleopTwistJoy]: Angular axis yaw on 6 at scale 0.200000. [planner_server-13] [INFO] [1727232274.122229174] [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.

[controller_server-11] [INFO] [1727232274.125250535] [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. [controller_server-11] [INFO] [1727232274.127473856] [controller_server]: Creating controller server [waypoint_follower-16] [INFO] [1727232274.126047164] [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.

[smoother_server-12] [INFO] [1727232274.126079756] [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. [smoother_server-12] [INFO] [1727232274.126995541] [smoother_server]: Creating smoother server

[velocity_smoother-17] [INFO] [1727232274.126719195] [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. [bt_navigator-15] [INFO] [1727232274.126783347] [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.

[planner_server-13] [INFO] [1727232274.126908769] [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] [1727232274.127249176] [global_costmap.global_costmap]: Creating Costmap [behavior_server-14] [INFO] [1727232274.127041455] [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. [lifecycle_manager-18] [INFO] [1727232274.128479932] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [controller_server-11] [INFO] [1727232274.129775349] [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] [1727232274.129970747] [local_costmap.local_costmap]: Creating Costmap [lifecycle_manager-18] [INFO] [1727232274.139036975] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-18] [INFO] [1727232274.139082992] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-11] [INFO] [1727232274.139266351] [controller_server]: Configuring controller interface [controller_server-11] [INFO] [1727232274.139414698] [controller_server]: getting goal checker plugins.. [controller_server-11] [INFO] [1727232274.139490298] [controller_server]: Controller frequency set to 3.0000Hz

[controller_server-11] [INFO] [1727232274.142491163] [local_costmap.local_costmap]: Using plugin "static_layer" [controller_server-11] [INFO] [1727232274.146536845] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability [controller_server-11] [INFO] [1727232274.147515677] [local_costmap.local_costmap]: Initialized plugin "static_layer" [controller_server-11] [INFO] [1727232274.147538787] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-11] [INFO] [1727232274.149318040] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-11] [INFO] [1727232274.153622006] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-11] [INFO] [1727232274.153644083] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-11] [INFO] [1727232274.154874479] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-11] [ERROR] [1727232274.157255019] [local_costmap.local_costmap]: The configured inflation radius (0.100) is smaller than the computed inscribed radius (0.210) of your footprint, it is highly recommended to set inflation radius to be at least as big as the inscribed radius to avoid collisions [controller_server-11] [INFO] [1727232274.158983212] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-11] [INFO] [1727232274.159569458] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-11] [INFO] [1727232274.160470554] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-11] [INFO] [1727232274.161986338] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-11] [INFO] [1727232274.167117298] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-11] [INFO] [1727232274.173656976] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-11] [INFO] [1727232274.174406828] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.174695154] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-11] [INFO] [1727232274.175420722] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.175779028] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-11] [INFO] [1727232274.175997843] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.176336843] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-11] [INFO] [1727232274.177089554] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.177197830] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-11] [INFO] [1727232274.177825962] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.177952152] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-11] [INFO] [1727232274.178527424] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.178656119] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-11] [INFO] [1727232274.179236388] [controller_server]: Critic plugin initialized [controller_server-11] [INFO] [1727232274.179257339] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-18] [INFO] [1727232274.183090357] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-12] [INFO] [1727232274.183543840] [smoother_server]: Configuring smoother server [smoother_server-12] [INFO] [1727232274.187970453] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-12] [INFO] [1727232274.188794124] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-18] [INFO] [1727232274.191896481] [lifecycle_manager_navigation]: Configuring planner_server

[planner_server-13] [INFO] [1727232274.289025284] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-13] [INFO] [1727232274.291598976] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-13] [INFO] [1727232274.292325067] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-13] [INFO] [1727232274.292471989] [global_costmap.global_costmap]: Using plugin "voxel_layer" [planner_server-13] [INFO] [1727232274.293089467] [global_costmap.global_costmap]: Subscribed to Topics: scan [rviz2-5] [INFO] [1727232274.381003432] [rviz2]: Stereo is NOT SUPPORTED [rviz2-5] [INFO] [1727232274.381096705] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-5] [INFO] [1727232274.392108718] [rviz2]: Stereo is NOT SUPPORTED [foxglove_bridge-9] [INFO] [1727232274.428748368] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so [foxglove_bridge-9] [INFO] [1727232274.434126106] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate [foxglove_bridge-9] [INFO] [1727232274.434158633] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate [async_slam_toolbox_node-10] [INFO] [1727232274.435979576] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver [async_slam_toolbox_node-10] [INFO] [1727232274.436227435] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner. [foxglove_bridge-9] [INFO] [1727232274.436320012] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.8.0@) with WebSocket++/0.8.2 [foxglove_bridge-9] [INFO] [1727232274.436906081] [foxglove_bridge]: [WS] Server running without TLS [foxglove_bridge-9] [INFO] [1727232274.437089714] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765 [foxglove_bridge-9] [INFO] [1727232274.437099844] [foxglove_bridge]: [WS] WebSocket server run loop started [planner_server-13] [INFO] [1727232274.510891427] [global_costmap.global_costmap]: Initialized plugin "voxel_layer" [planner_server-13] [INFO] [1727232274.510935414] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-13] [INFO] [1727232274.514242158] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-13] [ERROR] [1727232274.515338221] [global_costmap.global_costmap]: The configured inflation radius (0.100) is smaller than the computed inscribed radius (0.210) of your footprint, it is highly recommended to set inflation radius to be at least as big as the inscribed radius to avoid collisions [planner_server-13] [INFO] [1727232274.516476054] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-13] [INFO] [1727232274.516502685] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [pointcloud_to_laserscan_node-2] [INFO] [1727232274.518807302] [pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber [planner_server-13] [INFO] [1727232274.607172314] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-18] [INFO] [1727232274.610819458] [lifecycle_manager_navigation]: Configuring behavior_server

[behavior_server-14] [INFO] [1727232274.614380417] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-14] [INFO] [1727232274.614977070] [behavior_server]: Configuring spin [behavior_server-14] [INFO] [1727232274.616572535] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-14] [INFO] [1727232274.617115075] [behavior_server]: Configuring backup [behavior_server-14] [INFO] [1727232274.618223204] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-14] [INFO] [1727232274.618579812] [behavior_server]: Configuring drive_on_heading [behavior_server-14] [INFO] [1727232274.619635857] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-14] [INFO] [1727232274.620898392] [behavior_server]: Configuring assisted_teleop [behavior_server-14] [INFO] [1727232274.623561835] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-14] [INFO] [1727232274.624049592] [behavior_server]: Configuring wait [lifecycle_manager-18] [INFO] [1727232274.628369048] [lifecycle_manager_navigation]: Configuring bt_navigator

[lifecycle_manager-18] [INFO] [1727232274.653610012] [lifecycle_manager_navigation]: Configuring waypoint_follower

[waypoint_follower-16] [INFO] [1727232274.660535362] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-18] [INFO] [1727232274.661195691] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-17] [INFO] [1727232274.661359513] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-18] [INFO] [1727232274.662819635] [lifecycle_manager_navigation]: Activating controller_server

[controller_server-11] [INFO] [1727232274.663009403] [local_costmap.local_costmap]: Checking transform

[go2_driver_node-3] [INFO] [1727232274.721204184] [go2_driver_node]: Received ip list: ['192.168.123.222'] [go2_driver_node-3] [INFO] [1727232274.721385478] [go2_driver_node]: Connection type is cyclonedds [go2_driver_node-3] [INFO] [1727232274.721508007] [go2_driver_node]: Connection mode is single [go2_driver_node-3] INFO:scripts.go2_camerainfo:Loading camera info from file: /home/eren/go2Sim_ws/install/go2_robot_sdk/share/go2_robot_sdk/calibration/front_camera.yaml [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 withdynamic_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] [1727232275.294065875] [lidar_to_pointcloud]: Map will be saved [lidar_to_pointcloud-4] [INFO] [1727232275.294255955] [lidar_to_pointcloud]: Map name is 3d_map.ply [controller_server-11] [INFO] [1727232275.713625936] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232275.820002635] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-18] [INFO] [1727232275.820130398] [lifecycle_manager_navigation]: Activating smoother_server

[smoother_server-12] [INFO] [1727232275.820752376] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232275.925351502] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-18] [INFO] [1727232275.925485459] [lifecycle_manager_navigation]: Activating planner_server

[planner_server-13] [INFO] [1727232275.926497555] [global_costmap.global_costmap]: Checking transform

[planner_server-13] [INFO] [1727232277.277534131] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-13] [INFO] [1727232277.277819829] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232277.379507222] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-18] [INFO] [1727232277.379566251] [lifecycle_manager_navigation]: Activating behavior_server

[behavior_server-14] [INFO] [1727232277.379902488] [behavior_server]: Activating spin [behavior_server-14] [INFO] [1727232277.379914245] [behavior_server]: Activating backup [behavior_server-14] [INFO] [1727232277.379923852] [behavior_server]: Activating drive_on_heading [behavior_server-14] [INFO] [1727232277.379932984] [behavior_server]: Activating assisted_teleop [behavior_server-14] [INFO] [1727232277.379942069] [behavior_server]: Activating wait [behavior_server-14] [INFO] [1727232277.379953928] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232277.482664441] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-18] [INFO] [1727232277.482852288] [lifecycle_manager_navigation]: Activating bt_navigator

[bt_navigator-15] [INFO] [1727232277.532326076] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232277.635591408] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-18] [INFO] [1727232277.635735787] [lifecycle_manager_navigation]: Activating waypoint_follower

[waypoint_follower-16] [INFO] [1727232277.636421515] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232277.742070398] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-18] [INFO] [1727232277.742112421] [lifecycle_manager_navigation]: Activating velocity_smoother

[velocity_smoother-17] [INFO] [1727232277.742570085] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-18] [INFO] [1727232277.844513365] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-18] [INFO] [1727232277.844611177] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-18] [INFO] [1727232277.844642936] [lifecycle_manager_navigation]: Creating bond timer... [controller_server-11] [WARN] [1727232284.663560079] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-13] [WARN] [1727232286.161617844] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [controller_server-11] [WARN] [1727232294.663520942] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-13] [WARN] [1727232296.240300947] [global_costmap.global_costmap]: Can't update static costmap layer, no map received [controller_server-11] [WARN] [1727232304.663535256] [local_costmap.local_costmap]: Can't update static costmap layer, no map received [planner_server-13] [WARN] [1727232306.215343854] [global_costmap.global_costmap]: Can't update static costmap layer, no map received

[abizovnuralem]

Hello, what kind of dog firmware are you using?

[KingJacM]

Same here, any solution yet?