search

ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
Other
2.58k stars 1.29k forks source link

ComputePathToPose does not work after update from foxy to galactic #2767

Closed KrasnovPavel closed 2 years ago

KrasnovPavel commented 2 years ago

Bug report

Required Info:

Steps to reproduce issue

I am launching ros2 launch nav2_bringup navigation_launch.py params_file:=./src/planner/config/nav2_params_1.yaml in foxy and in galactic (not simultaneously) with almost identical configs and then trigger action ros2 action send_goal navigate_to_pose nav2_msgs/NavigateToPose "pose: { pose: { position: { x: 1.0 } } }". Foxy works correctly and robot is moving while galatcic logs [bt_navigator-4] [INFO] [1642088149.265828484] [bt_navigator]: Begin navigating from current location to (1.00, 0.00) and does nothing more.

In the same time at other terminal I am providing transforms: map->odom and odom->base_link.

My params file

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_compute_path_through_poses_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node
    - nav2_single_trigger_bt_node
    - nav2_is_battery_low_condition_bt_node
    - nav2_navigate_through_poses_action_bt_node
    - nav2_navigate_to_pose_action_bt_node
    - nav2_remove_passed_goals_action_bt_node
    - nav2_planner_selector_bt_node
    - nav2_controller_selector_bt_node
    - nav2_goal_checker_selector_bt_node

#    - nav2_compute_path_to_pose_action_bt_node
#    - nav2_follow_path_action_bt_node
#    - nav2_back_up_action_bt_node
#    - nav2_spin_action_bt_node
#    - nav2_wait_action_bt_node
#    - nav2_clear_costmap_service_bt_node
#    - nav2_is_stuck_condition_bt_node
#    - nav2_goal_reached_condition_bt_node
#    - nav2_goal_updated_condition_bt_node
#    - nav2_initial_pose_received_condition_bt_node
#    - nav2_reinitialize_global_localization_service_bt_node
#    - nav2_rate_controller_bt_node
#    - nav2_distance_controller_bt_node
#    - nav2_speed_controller_bt_node
#    - nav2_truncate_path_action_bt_node
#    - nav2_goal_updater_node_bt_node
#    - nav2_recovery_node_bt_node
#    - nav2_pipeline_sequence_bt_node
#    - nav2_round_robin_node_bt_node
#    - nav2_transform_available_condition_bt_node
#    - nav2_time_expired_condition_bt_node
#    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.26
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: False
      footprint: "[ [0.27, 0.45], [0.27, -0.45], [-0.27, -0.45], [-0.27, 0.45] ]"
      rolling_window: true
      width: 4
      height: 4
      resolution: 0.05
      plugins: ["voxel_layer", "inflation_layer"]
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        observation_sources: points
        points:
          topic: /zed2/zed_node/point_cloud/cloud_registered
          sensor_frame: zed2_left_camera_frame
          min_obstacle_height: 0.3
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        inflation_radius: 0.2
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: False
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 5.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: False
      robot_radius: 0.45
      width: 200
      height: 200
      resolution: 0.05
      origin_x: -100.0
      origin_y: -100.0
      track_unknown_space: true
      plugins: ["static_layer", "voxel_layer", "inflation_layer"]
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        enabled: False
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        observation_sources: points
        points:
          topic: /zed2/zed_node/point_cloud/cloud_registered
          sensor_frame: zed2_left_camera_frame
          min_obstacle_height: 0.3
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "PointCloud2"
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        inflation_radius: 0.2
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: False
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: False
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: False
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: False

waypoint_follower:
  ros__parameters:
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"   
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

The only difference between foxy and galactic is list of bt_navigator.plugin_lib_names (commented are for foxy). I have read migration guide and looks like it should work without additional changes.

Logs from foxy:

[INFO] [launch]: All log files can be found below /home/notebook/.ros/log/2022-01-13-18-09-37-758057-notebook-Zephyrus-GX501GI-117172
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [117174]
[INFO] [planner_server-2]: process started with pid [117176]
[INFO] [recoveries_server-3]: process started with pid [117178]
[INFO] [bt_navigator-4]: process started with pid [117180]
[INFO] [waypoint_follower-5]: process started with pid [117182]
[INFO] [lifecycle_manager-6]: process started with pid [117184]
[lifecycle_manager-6] [INFO] [1642086578.012261356] [lifecycle_manager_navigation]: Creating
[waypoint_follower-5] [INFO] [1642086578.012485636] [waypoint_follower]: 
[waypoint_follower-5]   waypoint_follower lifecycle node launched. 
[waypoint_follower-5]   Waiting on external lifecycle transitions to activate
[waypoint_follower-5]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-5] [INFO] [1642086578.012589146] [waypoint_follower]: Creating
[recoveries_server-3] [INFO] [1642086578.018393278] [recoveries_server]: 
[recoveries_server-3]   recoveries_server lifecycle node launched. 
[recoveries_server-3]   Waiting on external lifecycle transitions to activate
[recoveries_server-3]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-6] [INFO] [1642086578.021188396] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-2] [INFO] [1642086578.026973470] [planner_server]: 
[planner_server-2]  planner_server lifecycle node launched. 
[planner_server-2]  Waiting on external lifecycle transitions to activate
[planner_server-2]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-6] [INFO] [1642086578.027047820] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-6] [INFO] [1642086578.027098733] [lifecycle_manager_navigation]: Configuring controller_server
[planner_server-2] [INFO] [1642086578.027926263] [planner_server]: Creating
[bt_navigator-4] [INFO] [1642086578.030230747] [bt_navigator]: 
[bt_navigator-4]    bt_navigator lifecycle node launched. 
[bt_navigator-4]    Waiting on external lifecycle transitions to activate
[bt_navigator-4]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-4] [INFO] [1642086578.030369287] [bt_navigator]: Creating
[controller_server-1] [INFO] [1642086578.038336632] [controller_server]: 
[controller_server-1]   controller_server lifecycle node launched. 
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1642086578.040502698] [controller_server]: Creating controller server
[planner_server-2] [INFO] [1642086578.042374944] [global_costmap.global_costmap]: 
[planner_server-2]  global_costmap lifecycle node launched. 
[planner_server-2]  Waiting on external lifecycle transitions to activate
[planner_server-2]  See https://de[INFO] [launch]: All log files can be found below /home/notebook/.ros/log/2022-01-13-18-35-41-147117-notebook-Zephyrus-GX501GI-119210
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [119212]
[INFO] [planner_server-2]: process started with pid [119214]
[INFO] [recoveries_server-3]: process started with pid [119216]
[INFO] [bt_navigator-4]: process started with pid [119218]
[INFO] [waypoint_follower-5]: process started with pid [119220]
[INFO] [lifecycle_manager-6]: process started with pid [119222]
[lifecycle_manager-6] [INFO] [1642088141.602475262] [lifecycle_manager_navigation]: Creating
[bt_navigator-4] [INFO] [1642088141.604275651] [bt_navigator]: 
[lifecycle_manager-6] [INFO] [1642088141.604709289] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[bt_navigator-4]    bt_navigator lifecycle node launched. 
[bt_navigator-4]    Waiting on external lifecycle transitions to activate
[bt_navigator-4]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-4] [INFO] [1642088141.605656566] [bt_navigator]: Creating
[waypoint_follower-5] [INFO] [1642088141.606317312] [waypoint_follower]: 
[waypoint_follower-5]   waypoint_follower lifecycle node launched. 
[waypoint_follower-5]   Waiting on external lifecycle transitions to activate
[waypoint_follower-5]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1642088141.606392373] [planner_server]: 
[planner_server-2]  planner_server lifecycle node launched. 
[planner_server-2]  Waiting on external lifecycle transitions to activate
[planner_server-2]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-5] [INFO] [1642088141.606795177] [waypoint_follower]: Creating
[recoveries_server-3] [INFO] [1642088141.607120521] [recoveries_server]: 
[recoveries_server-3]   recoveries_server lifecycle node launched. 
[recoveries_server-3]   Waiting on external lifecycle transitions to activate
[recoveries_server-3]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1642088141.607519768] [planner_server]: Creating
[controller_server-1] [INFO] [1642088141.607994723] [controller_server]: 
[controller_server-1]   controller_server lifecycle node launched. 
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-6] [INFO] [1642088141.610264913] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-6] [INFO] [1642088141.610309786] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-1] [INFO] [1642088141.610889169] [controller_server]: Creating controller server
[planner_server-2] [INFO] [1642088141.612738203] [global_costmap.global_costmap]: 
[planner_server-2]  global_costmap lifecycle node launched. 
[planner_server-2]  Waiting on external lifecycle transitions to activate
[planner_server-2]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1642088141.613867534] [global_costmap.global_costmap]: Creating Costmap
[controller_server-1] [INFO] [1642088141.631848058] [local_costmap.local_costmap]: 
[controller_server-1]   local_costmap lifecycle node launched. 
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1642088141.632136053] [local_costmap.local_costmap]: Creating Costmap
[controller_server-1] [INFO] [1642088141.638405487] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1642088141.638530346] [controller_server]: getting goal checker plugins..
[controller_server-1] [INFO] [1642088141.638636191] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1642088141.638658280] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1642088141.641319062] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-1] [INFO] [1642088141.644324628] [local_costmap.local_costmap]: Subscribed to Topics: points
[controller_server-1] [INFO] [1642088141.647378546] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-1] [INFO] [1642088141.647404528] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1642088141.647940030] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1642088141.651885514] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1642088141.655250237] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1642088141.658019226] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-1] [INFO] [1642088141.659472425] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1642088141.660503842] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1642088141.669139564] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1642088141.669612430] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.669743798] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1642088141.670172602] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.670296808] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1642088141.670648772] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.670785537] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1642088141.671124292] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.671239596] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1642088141.671637453] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.671761102] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1642088141.671986055] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.672190696] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1642088141.672418275] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642088141.672439843] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-6] [INFO] [1642088141.675281675] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-2] [INFO] [1642088141.675445908] [planner_server]: Configuring
[planner_server-2] [INFO] [1642088141.675473973] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1642088141.689863777] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-2] [INFO] [1642088141.692868596] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1642088141.693323747] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-2] [INFO] [1642088141.693349025] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-2] [INFO] [1642088141.693924017] [global_costmap.global_costmap]: Subscribed to Topics: points
[planner_server-2] [INFO] [1642088141.735061603] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-2] [INFO] [1642088141.735098395] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-2] [INFO] [1642088141.736555593] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-2] [INFO] [1642088141.740564344] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1642088141.740596467] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1642088141.753924012] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-6] [INFO] [1642088141.758576958] [lifecycle_manager_navigation]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1642088141.758726356] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1642088141.761752100] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1642088141.762487936] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1642088141.764459315] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1642088141.765271327] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1642088141.766915762] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1642088141.767572299] [recoveries_server]: Configuring wait
[lifecycle_manager-6] [INFO] [1642088141.769388695] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1642088141.769550330] [bt_navigator]: Configuring
[lifecycle_manager-6] [INFO] [1642088141.799396968] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-5] [INFO] [1642088141.799592185] [waypoint_follower]: Configuring
[waypoint_follower-5] [INFO] [1642088141.803311527] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-6] [INFO] [1642088141.803815912] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1642088141.803953018] [controller_server]: Activating
[controller_server-1] [INFO] [1642088141.803977108] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1642088141.803991242] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1642088141.804057507] [local_costmap.local_costmap]: start
[controller_server-1] [INFO] [1642088141.804566536] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642088141.906491270] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-6] [INFO] [1642088141.906537120] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-2] [INFO] [1642088141.906819459] [planner_server]: Activating
[planner_server-2] [INFO] [1642088141.906853248] [global_costmap.global_costmap]: Activating
[planner_server-2] [INFO] [1642088141.906868693] [global_costmap.global_costmap]: Checking transform
[planner_server-2] [INFO] [1642088141.906959938] [global_costmap.global_costmap]: start
[planner_server-2] [INFO] [1642088141.957831136] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1642088141.957881742] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642088142.059686227] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-6] [INFO] [1642088142.059733892] [lifecycle_manager_navigation]: Activating recoveries_server
[recoveries_server-3] [INFO] [1642088142.059919040] [recoveries_server]: Activating
[recoveries_server-3] [INFO] [1642088142.059944048] [recoveries_server]: Activating spin
[recoveries_server-3] [INFO] [1642088142.059954274] [recoveries_server]: Activating backup
[recoveries_server-3] [INFO] [1642088142.059961374] [recoveries_server]: Activating wait
[recoveries_server-3] [INFO] [1642088142.059968872] [recoveries_server]: Creating bond (recoveries_server) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642088142.161660268] [lifecycle_manager_navigation]: Server recoveries_server connected with bond.
[lifecycle_manager-6] [INFO] [1642088142.161692755] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-4] [INFO] [1642088142.161868078] [bt_navigator]: Activating
[bt_navigator-4] [PublisherZMQ] Server quitting.
[bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-4] [PublisherZMQ] Publisher quitting.
[bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-4] [INFO] [1642088142.182538722] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642088142.284320506] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-6] [INFO] [1642088142.284368119] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-5] [INFO] [1642088142.284569471] [waypoint_follower]: Activating
[waypoint_follower-5] [INFO] [1642088142.284602103] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642088142.386200145] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-6] [INFO] [1642088142.386235182] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-6] [INFO] [1642088142.386254245] [lifecycle_manager_navigation]: Creating bond timer...
[bt_navigator-4] [INFO] [1642088149.265828484] [bt_navigator]: Begin navigating from current location to (1.00, 0.00)
sign.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1642086578.042677620] [global_costmap.global_costmap]: Creating Costmap
[controller_server-1] [INFO] [1642086578.059649132] [local_costmap.local_costmap]: 
[controller_server-1]   local_costmap lifecycle node launched. 
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1642086578.059921882] [local_costmap.local_costmap]: Creating Costmap
[controller_server-1] [INFO] [1642086578.065570713] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1642086578.065720810] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1642086578.065743628] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1642086578.068618764] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-1] [INFO] [1642086578.070999557] [local_costmap.local_costmap]: Subscribed to Topics: points
[controller_server-1] [INFO] [1642086578.074566576] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-1] [INFO] [1642086578.074601474] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1642086578.075084905] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1642086578.082036913] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1642086578.082304473] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1642086578.083724684] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1642086578.084006395] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1642086578.105896675] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1642086578.107210337] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.107420031] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1642086578.108288044] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.108463965] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1642086578.108684220] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.108940511] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1642086578.109529987] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.109767026] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1642086578.110153542] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.110206000] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1642086578.110287154] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.110318690] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1642086578.110394114] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642086578.110405617] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-6] [INFO] [1642086578.115740763] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-2] [INFO] [1642086578.115909328] [planner_server]: Configuring
[planner_server-2] [INFO] [1642086578.115934471] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1642086578.126134075] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-2] [INFO] [1642086578.129438985] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1642086578.140311988] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-2] [INFO] [1642086578.140357204] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-2] [INFO] [1642086578.140841576] [global_costmap.global_costmap]: Subscribed to Topics: points
[planner_server-2] [INFO] [1642086578.178702832] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-2] [INFO] [1642086578.178740099] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-2] [INFO] [1642086578.179745076] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-2] [INFO] [1642086578.185574693] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1642086578.185607441] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1642086578.202328411] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-6] [INFO] [1642086578.207089048] [lifecycle_manager_navigation]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1642086578.207262795] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1642086578.209798504] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1642086578.210481909] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1642086578.212306467] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1642086578.213032853] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1642086578.214510005] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1642086578.215101567] [recoveries_server]: Configuring wait
[lifecycle_manager-6] [INFO] [1642086578.216939354] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1642086578.217099191] [bt_navigator]: Configuring
[bt_navigator-4] [INFO] [1642086578.249554992] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-4] [INFO] [1642086578.249726056] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-4] [INFO] [1642086578.250442107] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1642086578.250518040] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.253388677] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-4] [INFO] [1642086578.253525401] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-4] [INFO] [1642086578.254252399] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1642086578.254422363] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.255300009] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1642086578.255396095] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.256146041] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1642086578.256241174] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.260113468] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-4] [INFO] [1642086578.260256003] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-4] [INFO] [1642086578.263619358] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-4] [INFO] [1642086578.263770860] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[lifecycle_manager-6] [INFO] [1642086578.264905820] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-5] [INFO] [1642086578.265086506] [waypoint_follower]: Configuring
[lifecycle_manager-6] [INFO] [1642086578.271409352] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1642086578.271526708] [controller_server]: Activating
[controller_server-1] [INFO] [1642086578.271548018] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1642086578.271557280] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1642086578.271620525] [local_costmap.local_costmap]: start
[lifecycle_manager-6] [INFO] [1642086578.272844292] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-2] [INFO] [1642086578.273005366] [planner_server]: Activating
[planner_server-2] [INFO] [1642086578.273032506] [global_costmap.global_costmap]: Activating
[planner_server-2] [INFO] [1642086578.273044293] [global_costmap.global_costmap]: Checking transform
[planner_server-2] [INFO] [1642086578.273168873] [global_costmap.global_costmap]: start
[planner_server-2] [INFO] [1642086578.324379535] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-6] [INFO] [1642086578.324912774] [lifecycle_manager_navigation]: Activating recoveries_server
[recoveries_server-3] [INFO] [1642086578.325096203] [recoveries_server]: Activating
[recoveries_server-3] [INFO] [1642086578.325125942] [recoveries_server]: Activating spin
[recoveries_server-3] [INFO] [1642086578.325141950] [recoveries_server]: Activating backup
[recoveries_server-3] [INFO] [1642086578.325153805] [recoveries_server]: Activating wait
[lifecycle_manager-6] [INFO] [1642086578.325441766] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-4] [INFO] [1642086578.325593033] [bt_navigator]: Activating
[lifecycle_manager-6] [INFO] [1642086578.325861914] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-5] [INFO] [1642086578.326002679] [waypoint_follower]: Activating
[lifecycle_manager-6] [INFO] [1642086578.326307657] [lifecycle_manager_navigation]: Managed nodes are active
[bt_navigator-4] [INFO] [1642086587.784784232] [bt_navigator]: Begin navigating from current location to (1.00, 0.00)
[planner_server-2] [WARN] [1642086587.889811472] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 9.6337 Hz
[controller_server-1] [INFO] [1642086587.906193523] [controller_server]: Received a goal, begin computing control effort.
[planner_server-2] [WARN] [1642086589.034070777] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 8.4647 Hz
[controller_server-1] [INFO] [1642086589.056532367] [controller_server]: Passing new path to controller.
[planner_server-2] [WARN] [1642086590.152582616] [planner_server]: Planner loop missed its desired rate of 20.0000 Hz. Current loop rate is 9.3805 Hz
[controller_server-1] [INFO] [1642086590.206497040] [controller_server]: Passing new path to controller.

Logs from Galactic:

[INFO] [launch]: All log files can be found below /home/notebook/.ros/log/2022-01-13-18-57-21-994692-notebook-Zephyrus-GX501GI-119632
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [119634]
[INFO] [planner_server-2]: process started with pid [119636]
[INFO] [recoveries_server-3]: process started with pid [119638]
[INFO] [bt_navigator-4]: process started with pid [119640]
[INFO] [waypoint_follower-5]: process started with pid [119642]
[INFO] [lifecycle_manager-6]: process started with pid [119644]
[lifecycle_manager-6] [INFO] [1642089442.448624323] [lifecycle_manager_navigation]: Creating
[waypoint_follower-5] [INFO] [1642089442.450368883] [waypoint_follower]: 
[waypoint_follower-5]   waypoint_follower lifecycle node launched. 
[waypoint_follower-5]   Waiting on external lifecycle transitions to activate
[waypoint_follower-5]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-5] [INFO] [1642089442.450893515] [waypoint_follower]: Creating
[lifecycle_manager-6] [INFO] [1642089442.451960649] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[bt_navigator-4] [INFO] [1642089442.454924136] [bt_navigator]: 
[bt_navigator-4]    bt_navigator lifecycle node launched. 
[bt_navigator-4]    Waiting on external lifecycle transitions to activate
[bt_navigator-4]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-4] [INFO] [1642089442.455055397] [bt_navigator]: Creating
[lifecycle_manager-6] [INFO] [1642089442.455152460] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-6] [INFO] [1642089442.455187572] [lifecycle_manager_navigation]: Configuring controller_server
[planner_server-2] [INFO] [1642089442.455253281] [planner_server]: 
[planner_server-2]  planner_server lifecycle node launched. 
[planner_server-2]  Waiting on external lifecycle transitions to activate
[planner_server-2]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1642089442.456531742] [planner_server]: Creating
[controller_server-1] [INFO] [1642089442.459864274] [controller_server]: 
[controller_server-1]   controller_server lifecycle node launched. 
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1642089442.462100222] [controller_server]: Creating controller server
[recoveries_server-3] [INFO] [1642089442.463006815] [recoveries_server]: 
[recoveries_server-3]   recoveries_server lifecycle node launched. 
[recoveries_server-3]   Waiting on external lifecycle transitions to activate
[recoveries_server-3]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1642089442.474979681] [local_costmap.local_costmap]: 
[controller_server-1]   local_costmap lifecycle node launched. 
[controller_server-1]   Waiting on external lifecycle transitions to activate
[controller_server-1]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1642089442.475393452] [local_costmap.local_costmap]: Creating Costmap
[planner_server-2] [INFO] [1642089442.482387752] [global_costmap.global_costmap]: 
[planner_server-2]  global_costmap lifecycle node launched. 
[planner_server-2]  Waiting on external lifecycle transitions to activate
[planner_server-2]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-2] [INFO] [1642089442.482712897] [global_costmap.global_costmap]: Creating Costmap
[controller_server-1] [INFO] [1642089442.484772233] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1642089442.485014722] [controller_server]: getting goal checker plugins..
[controller_server-1] [INFO] [1642089442.485279926] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1642089442.485312253] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1642089442.488647341] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-1] [INFO] [1642089442.492066482] [local_costmap.local_costmap]: Subscribed to Topics: points
[controller_server-1] [INFO] [1642089442.496114564] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-1] [INFO] [1642089442.496157473] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1642089442.496995441] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1642089442.501424021] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1642089442.504777739] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1642089442.507570604] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-1] [INFO] [1642089442.509066083] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1642089442.509906343] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1642089442.518797374] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1642089442.519481056] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.519683705] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1642089442.520314375] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.520467196] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1642089442.520745370] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.520923150] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1642089442.521321090] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.521462837] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1642089442.521815656] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.521988951] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1642089442.522270545] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.522433388] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1642089442.522744378] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1642089442.522772460] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-6] [INFO] [1642089442.525984409] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-2] [INFO] [1642089442.526147294] [planner_server]: Configuring
[planner_server-2] [INFO] [1642089442.526171173] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1642089442.539379752] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-2] [INFO] [1642089442.542474064] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1642089442.543063727] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-2] [INFO] [1642089442.543083743] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-2] [INFO] [1642089442.543591082] [global_costmap.global_costmap]: Subscribed to Topics: points
[planner_server-2] [INFO] [1642089442.588842092] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-2] [INFO] [1642089442.588876194] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-2] [INFO] [1642089442.590361438] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-2] [INFO] [1642089442.594254231] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1642089442.594286991] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1642089442.607735956] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-6] [INFO] [1642089442.612095522] [lifecycle_manager_navigation]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1642089442.612276379] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1642089442.616003261] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1642089442.616755462] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1642089442.619480949] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1642089442.620257686] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1642089442.622074180] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1642089442.622734032] [recoveries_server]: Configuring wait
[lifecycle_manager-6] [INFO] [1642089442.625191554] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1642089442.625460564] [bt_navigator]: Configuring
[lifecycle_manager-6] [INFO] [1642089442.657468907] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-5] [INFO] [1642089442.657612955] [waypoint_follower]: Configuring
[waypoint_follower-5] [INFO] [1642089442.661447811] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-6] [INFO] [1642089442.662059094] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1642089442.662174219] [controller_server]: Activating
[controller_server-1] [INFO] [1642089442.662202161] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1642089442.662215710] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1642089442.662288060] [local_costmap.local_costmap]: start
[controller_server-1] [INFO] [1642089442.662751372] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642089442.764689553] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-6] [INFO] [1642089442.764730042] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-2] [INFO] [1642089442.764971195] [planner_server]: Activating
[planner_server-2] [INFO] [1642089442.765019794] [global_costmap.global_costmap]: Activating
[planner_server-2] [INFO] [1642089442.765042070] [global_costmap.global_costmap]: Checking transform
[planner_server-2] [INFO] [1642089442.765206152] [global_costmap.global_costmap]: start
[planner_server-2] [INFO] [1642089442.816289198] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1642089442.816339543] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642089442.918317813] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-6] [INFO] [1642089442.918350694] [lifecycle_manager_navigation]: Activating recoveries_server
[recoveries_server-3] [INFO] [1642089442.918570726] [recoveries_server]: Activating
[recoveries_server-3] [INFO] [1642089442.918592456] [recoveries_server]: Activating spin
[recoveries_server-3] [INFO] [1642089442.918601262] [recoveries_server]: Activating backup
[recoveries_server-3] [INFO] [1642089442.918608342] [recoveries_server]: Activating wait
[recoveries_server-3] [INFO] [1642089442.918616063] [recoveries_server]: Creating bond (recoveries_server) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642089443.020280496] [lifecycle_manager_navigation]: Server recoveries_server connected with bond.
[lifecycle_manager-6] [INFO] [1642089443.020321137] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-4] [INFO] [1642089443.020527467] [bt_navigator]: Activating
[bt_navigator-4] [PublisherZMQ] Server quitting.
[bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-4] [PublisherZMQ] Publisher quitting.
[bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-4] [INFO] [1642089443.036889153] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642089443.138556612] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-6] [INFO] [1642089443.138598301] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-5] [INFO] [1642089443.138835023] [waypoint_follower]: Activating
[waypoint_follower-5] [INFO] [1642089443.138867343] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-6] [INFO] [1642089443.240807919] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-6] [INFO] [1642089443.240864248] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-6] [INFO] [1642089443.240884565] [lifecycle_manager_navigation]: Creating bond timer...
[bt_navigator-4] [INFO] [1642089447.363154410] [bt_navigator]: Begin navigating from current location to (1.00, 0.00)

I am sure that is exactly ComputePathToPose BT-Node because I've added bt_navigator.default_nav_to_pose_bt_xml parameter pointing to my custom very simple tree:

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
          <RecoveryNode number_of_retries="1" name="rec">
            <PipelineSequence name="pipe">
                <Spin spin_dist="-0.3" server_name="spin" server_timeout="10"/>
                <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
                <Spin spin_dist="0.3" server_name="spin" server_timeout="10"/>
            </PipelineSequence>
            <Spin spin_dist="-0.3" server_name="spin" server_timeout="10"/>
        </RecoveryNode>
  </BehaviorTree>
</root>

Now I can see that robot only did first spin action.

Expected behavior

Computing path to pose.

Actual behavior

ComputePathToPose silently does noting.

padhupradheep commented 2 years ago

From your logs for Foxy and Galactic I can observe that the BT you are using for galactic and foxy are completely different.

In the foxy log, you can note that different BT nodes that are not part of your BT are configured by the BT Navigator, such as FollowPath and ClearGlobalCostmap-Context. This is indeed not configured by the BT navigator for Galactic. Also, these behaviors are not configured in the BT attached by you.

Also ComputePathToPose on a simpler terms is just for generating the path by the planner. If you want your robot to move, you indeed need to use the FollowPath BT node, which would indeed send the generated plan to the controller. You can also look into the default BT tree of Nav2 and of course our wonderful documentation for more information, hope this helps.

KrasnovPavel commented 2 years ago

Thanks for your response!

From your logs for Foxy and Galactic I can observe that the BT you are using for galactic and foxy are completely different. In the foxy log, you can note that different BT nodes that are not part of your BT are configured by the BT Navigator, such as FollowPath and ClearGlobalCostmap-Context. This is indeed not configured by the BT navigator for Galactic. Also, these behaviors are not configured in the BT attached by you.

I reexamined logs and it looks like galactic does not log bt_navigation configuration process at all. In my yaml file I tried to:

and in all cases I get in log only

[lifecycle_manager-6] [INFO] [1642144534.123876069] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1642144534.124013902] [bt_navigator]: Configuring

while in foxy it is much more detailed:

[lifecycle_manager-6] [INFO] [1642086578.216939354] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1642086578.217099191] [bt_navigator]: Configuring
[bt_navigator-4] [INFO] [1642086578.249554992] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-4] [INFO] [1642086578.249726056] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-4] [INFO] [1642086578.250442107] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1642086578.250518040] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.253388677] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-4] [INFO] [1642086578.253525401] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-4] [INFO] [1642086578.254252399] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1642086578.254422363] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.255300009] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-4] [INFO] [1642086578.255396095] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.256146041] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-4] [INFO] [1642086578.256241174] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-4] [INFO] [1642086578.260113468] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-4] [INFO] [1642086578.260256003] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-4] [INFO] [1642086578.263619358] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-4] [INFO] [1642086578.263770860] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized

Also ComputePathToPose on a simpler terms is just for generating the path by the planner.

I know it. I am using only ComputePathToPose to isolate the problem. I am trying do debug BT using my simple xml:

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
          <RecoveryNode number_of_retries="1" name="rec">
            <Sequence name="pipe">
                <Spin spin_dist="0.3" server_name="spin" server_timeout="10"/>
                <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
                <Spin spin_dist="-0.6" server_name="spin" server_timeout="10"/>
            </Sequence>
            <Spin spin_dist="-0.3" server_name="spin" server_timeout="10"/>
        </RecoveryNode>
  </BehaviorTree>
</root>

as far as I understand BTs it should do spin then compute path and then do big counterspin or if something goes wrong do small counterspin.

I can see it does first spin but then does nothing at all. ``` [INFO] [launch]: All log files can be found below /home/notebook/.ros/log/2022-01-14-10-28-09-888672-notebook-Zephyrus-GX501GI-6304 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [controller_server-1]: process started with pid [6306] [INFO] [planner_server-2]: process started with pid [6308] [INFO] [recoveries_server-3]: process started with pid [6310] [INFO] [bt_navigator-4]: process started with pid [6312] [INFO] [waypoint_follower-5]: process started with pid [6314] [INFO] [lifecycle_manager-6]: process started with pid [6316] [waypoint_follower-5] [INFO] [1642145290.340269210] [waypoint_follower]: [waypoint_follower-5] waypoint_follower lifecycle node launched. [waypoint_follower-5] Waiting on external lifecycle transitions to activate [waypoint_follower-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-5] [INFO] [1642145290.340913946] [waypoint_follower]: Creating [lifecycle_manager-6] [INFO] [1642145290.343804983] [lifecycle_manager_navigation]: Creating [planner_server-2] [INFO] [1642145290.345068036] [planner_server]: [planner_server-2] planner_server lifecycle node launched. [planner_server-2] Waiting on external lifecycle transitions to activate [planner_server-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-6] [INFO] [1642145290.345435352] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [controller_server-1] [INFO] [1642145290.346031511] [controller_server]: [controller_server-1] controller_server lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-2] [INFO] [1642145290.346466914] [planner_server]: Creating [bt_navigator-4] [INFO] [1642145290.348317634] [bt_navigator]: [bt_navigator-4] bt_navigator lifecycle node launched. [bt_navigator-4] Waiting on external lifecycle transitions to activate [bt_navigator-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-4] [INFO] [1642145290.348430934] [bt_navigator]: Creating [lifecycle_manager-6] [INFO] [1642145290.348517076] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-6] [INFO] [1642145290.348552844] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-1] [INFO] [1642145290.348776029] [controller_server]: Creating controller server [recoveries_server-3] [INFO] [1642145290.349527157] [recoveries_server]: [recoveries_server-3] recoveries_server lifecycle node launched. [recoveries_server-3] Waiting on external lifecycle transitions to activate [recoveries_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-2] [INFO] [1642145290.353679277] [global_costmap.global_costmap]: [planner_server-2] global_costmap lifecycle node launched. [planner_server-2] Waiting on external lifecycle transitions to activate [planner_server-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-2] [INFO] [1642145290.354047613] [global_costmap.global_costmap]: Creating Costmap [controller_server-1] [INFO] [1642145290.355577456] [local_costmap.local_costmap]: [controller_server-1] local_costmap lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-1] [INFO] [1642145290.355945708] [local_costmap.local_costmap]: Creating Costmap [controller_server-1] [INFO] [1642145290.370405466] [controller_server]: Configuring controller interface [controller_server-1] [INFO] [1642145290.370608934] [controller_server]: getting goal checker plugins.. [controller_server-1] [INFO] [1642145290.370739214] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-1] [INFO] [1642145290.370759964] [local_costmap.local_costmap]: Configuring [controller_server-1] [INFO] [1642145290.373680027] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-1] [INFO] [1642145290.376741645] [local_costmap.local_costmap]: Subscribed to Topics: points [controller_server-1] [INFO] [1642145290.380408757] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-1] [INFO] [1642145290.380435708] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-1] [INFO] [1642145290.381054250] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-1] [INFO] [1642145290.385397126] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-1] [INFO] [1642145290.388983882] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-1] [INFO] [1642145290.391675716] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-1] [INFO] [1642145290.393214721] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-1] [INFO] [1642145290.394168576] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-1] [INFO] [1642145290.404976145] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-1] [INFO] [1642145290.405534448] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.405673281] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-1] [INFO] [1642145290.406255005] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.406385878] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-1] [INFO] [1642145290.406632577] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.406761908] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-1] [INFO] [1642145290.407155853] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.407319556] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-1] [INFO] [1642145290.407688410] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.407822166] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-1] [INFO] [1642145290.408085796] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.408218835] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-1] [INFO] [1642145290.408451706] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1642145290.408471942] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-6] [INFO] [1642145290.411516744] [lifecycle_manager_navigation]: Configuring planner_server [planner_server-2] [INFO] [1642145290.411661513] [planner_server]: Configuring [planner_server-2] [INFO] [1642145290.411683462] [global_costmap.global_costmap]: Configuring [planner_server-2] [INFO] [1642145290.424523627] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-2] [INFO] [1642145290.427525856] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-2] [INFO] [1642145290.428042694] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-2] [INFO] [1642145290.428063426] [global_costmap.global_costmap]: Using plugin "voxel_layer" [planner_server-2] [INFO] [1642145290.428621226] [global_costmap.global_costmap]: Subscribed to Topics: points [planner_server-2] [INFO] [1642145290.469911615] [global_costmap.global_costmap]: Initialized plugin "voxel_layer" [planner_server-2] [INFO] [1642145290.469953836] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-2] [INFO] [1642145290.471550474] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-2] [INFO] [1642145290.475830371] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-2] [INFO] [1642145290.475862564] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-2] [INFO] [1642145290.489595322] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-6] [INFO] [1642145290.493733198] [lifecycle_manager_navigation]: Configuring recoveries_server [recoveries_server-3] [INFO] [1642145290.493878403] [recoveries_server]: Configuring [recoveries_server-3] [INFO] [1642145290.497036149] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin [recoveries_server-3] [INFO] [1642145290.497771600] [recoveries_server]: Configuring spin [recoveries_server-3] [INFO] [1642145290.499977375] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp [recoveries_server-3] [INFO] [1642145290.500696328] [recoveries_server]: Configuring backup [recoveries_server-3] [INFO] [1642145290.502498086] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait [recoveries_server-3] [INFO] [1642145290.503392236] [recoveries_server]: Configuring wait [lifecycle_manager-6] [INFO] [1642145290.505374420] [lifecycle_manager_navigation]: Configuring bt_navigator [bt_navigator-4] [INFO] [1642145290.505525459] [bt_navigator]: Configuring [lifecycle_manager-6] [INFO] [1642145290.537260867] [lifecycle_manager_navigation]: Configuring waypoint_follower [waypoint_follower-5] [INFO] [1642145290.537406386] [waypoint_follower]: Configuring [waypoint_follower-5] [INFO] [1642145290.541006045] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-6] [INFO] [1642145290.541488666] [lifecycle_manager_navigation]: Activating controller_server [controller_server-1] [INFO] [1642145290.541765318] [controller_server]: Activating [controller_server-1] [INFO] [1642145290.541785934] [local_costmap.local_costmap]: Activating [controller_server-1] [INFO] [1642145290.541795627] [local_costmap.local_costmap]: Checking transform [controller_server-1] [INFO] [1642145290.541871426] [local_costmap.local_costmap]: start [controller_server-1] [INFO] [1642145290.542253020] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-6] [INFO] [1642145290.644588825] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-6] [INFO] [1642145290.644751888] [lifecycle_manager_navigation]: Activating planner_server [planner_server-2] [INFO] [1642145290.645560001] [planner_server]: Activating [planner_server-2] [INFO] [1642145290.645663337] [global_costmap.global_costmap]: Activating [planner_server-2] [INFO] [1642145290.645721041] [global_costmap.global_costmap]: Checking transform [planner_server-2] [INFO] [1642145290.646009683] [global_costmap.global_costmap]: start [planner_server-2] [INFO] [1642145290.748464576] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-2] [INFO] [1642145290.748508099] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-6] [INFO] [1642145290.850253129] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-6] [INFO] [1642145290.850298834] [lifecycle_manager_navigation]: Activating recoveries_server [recoveries_server-3] [INFO] [1642145290.850541986] [recoveries_server]: Activating [recoveries_server-3] [INFO] [1642145290.850568145] [recoveries_server]: Activating spin [recoveries_server-3] [INFO] [1642145290.850578593] [recoveries_server]: Activating backup [recoveries_server-3] [INFO] [1642145290.850587068] [recoveries_server]: Activating wait [recoveries_server-3] [INFO] [1642145290.850595921] [recoveries_server]: Creating bond (recoveries_server) to lifecycle manager. [lifecycle_manager-6] [INFO] [1642145290.952567829] [lifecycle_manager_navigation]: Server recoveries_server connected with bond. [lifecycle_manager-6] [INFO] [1642145290.952618919] [lifecycle_manager_navigation]: Activating bt_navigator [bt_navigator-4] [INFO] [1642145290.952900164] [bt_navigator]: Activating [bt_navigator-4] [PublisherZMQ] Server quitting. [bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated [bt_navigator-4] [PublisherZMQ] Publisher quitting. [bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated [bt_navigator-4] [INFO] [1642145290.979756649] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-6] [INFO] [1642145291.081702163] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-6] [INFO] [1642145291.081759976] [lifecycle_manager_navigation]: Activating waypoint_follower [waypoint_follower-5] [INFO] [1642145291.082063992] [waypoint_follower]: Activating [waypoint_follower-5] [INFO] [1642145291.082108020] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-6] [INFO] [1642145291.184618500] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-6] [INFO] [1642145291.184706511] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-6] [INFO] [1642145291.184717965] [lifecycle_manager_navigation]: Creating bond timer... [bt_navigator-4] [INFO] [1642145296.790055018] [bt_navigator]: Begin navigating from current location to (1.00, 0.00) [recoveries_server-3] [INFO] [1642145296.790425655] [recoveries_server]: Attempting spin [recoveries_server-3] [INFO] [1642145296.790504820] [recoveries_server]: Turning 0.30 for spin recovery. [recoveries_server-3] [INFO] [1642145297.690690989] [recoveries_server]: spin completed successfully ```
off-topic Btw, do you know how to debug BTs properly? I tried to use groot in monitor mode but it crushes when any message is received. And it looks like it is not supported now anyway https://navigation.ros.org/migration/Galactic.html#dropping-support-for-live-groot-monitoring-of-nav2
padhupradheep commented 2 years ago

not specify bt_navigator.default_nav_to_pose_bt_xml set it to "/opt/ros/galactic/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml" set it to my simple BT: "/home/notebook/work/ROS2-planner/src/planner/config/nav_to_pose.xml"

I tried to reproduce your issue, but all the BT works as intended.

and in all cases I get in log only

You are right, galactic does not show all the BT node configurations. But, they work as intended.

as far as I understand BTs it should do spin then compute path and then do big counterspin or if something goes wrong do small counterspin.

It does an initial spin, plans a path and finally does another spin.

I've added bt_navigator.default_nav_to_pose_bt_xml parameter pointing to my custom very simple tree:

Make sure, you've done this correctly. Also, if you are using nav2_bringup I highly doubt there is an issue right now with it. As most of the features that I develop are tested with the launch from nav2_bringup.

Btw, do you know how to debug BTs properly?

At the moment, I do not have an actual suggestion for the debugging. For me it is more based on the behavior that the robot exhibits and it's just on the fly.

BTW, it would have been nice if you had asked this question in ROS Answers. As, I think there is no actual bug with any of the BT nodes or BT itself.

SteveMacenski commented 2 years ago

Please ask on ROS Answers, I'm pretty active on there. Lets keep the issue tracker for issues / features