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ROS 2 Navigation Framework and System
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Can not click startup button in Rivz Galactic #3635

Closed zhihuiLiang closed 1 year ago

zhihuiLiang commented 1 year ago

I followed the tutorials, running

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False but the startup button is gray, like this

Screenshot from 2023-06-18 21-56-58 the model is load successfully in gazebo Screenshot from 2023-06-18 21-58-49 And the shell print is following

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [400301]
[INFO] [gzclient-2]: process started with pid [400303]
[INFO] [robot_state_publisher-3]: process started with pid [400305]
[INFO] [rviz2-4]: process started with pid [400317]
[INFO] [map_server-5]: process started with pid [400319]
[INFO] [amcl-6]: process started with pid [400321]
[INFO] [lifecycle_manager-7]: process started with pid [400333]
[INFO] [controller_server-8]: process started with pid [400336]
[INFO] [planner_server-9]: process started with pid [400358]
[INFO] [recoveries_server-10]: process started with pid [400374]
[INFO] [bt_navigator-11]: process started with pid [400390]
[INFO] [waypoint_follower-12]: process started with pid [400411]
[INFO] [lifecycle_manager-13]: process started with pid [400414]
[robot_state_publisher-3] [WARN] [1687096239.697216820] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-3] Link base_link had 7 children
[robot_state_publisher-3] Link camera_link had 2 children
[robot_state_publisher-3] Link camera_depth_frame had 1 children
[robot_state_publisher-3] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-3] Link camera_rgb_frame had 1 children
[robot_state_publisher-3] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-3] Link caster_back_left_link had 0 children
[robot_state_publisher-3] Link caster_back_right_link had 0 children
[robot_state_publisher-3] Link imu_link had 0 children
[robot_state_publisher-3] Link base_scan had 0 children
[robot_state_publisher-3] Link wheel_left_link had 0 children
[robot_state_publisher-3] Link wheel_right_link had 0 children
[robot_state_publisher-3] [INFO] [1687096239.699972561] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1687096239.699996600] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1687096239.700003625] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1687096239.700009362] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-3] [INFO] [1687096239.700014820] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-3] [INFO] [1687096239.700020610] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-3] [INFO] [1687096239.700026148] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-3] [INFO] [1687096239.700031579] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-3] [INFO] [1687096239.700037035] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-3] [INFO] [1687096239.700042429] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-3] [INFO] [1687096239.700047746] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1687096239.700053125] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1687096239.700058501] [robot_state_publisher]: got segment wheel_right_link
[map_server-5] [INFO] [1687096239.726652288] [map_server]: 
[map_server-5]  map_server lifecycle node launched. 
[map_server-5]  Waiting on external lifecycle transitions to activate
[map_server-5]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-5] [INFO] [1687096239.726751090] [map_server]: Creating
[amcl-6] [INFO] [1687096239.746678432] [amcl]: 
[amcl-6]    amcl lifecycle node launched. 
[amcl-6]    Waiting on external lifecycle transitions to activate
[amcl-6]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-6] [INFO] [1687096239.746766923] [amcl]: Creating
[lifecycle_manager-7] [INFO] [1687096239.760502889] [lifecycle_manager_localization]: Creating
[lifecycle_manager-7] [INFO] [1687096239.761904039] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[lifecycle_manager-7] [INFO] [1687096239.777764210] [lifecycle_manager_localization]: Starting managed nodes bringup...
[lifecycle_manager-7] [INFO] [1687096239.777807101] [lifecycle_manager_localization]: Configuring map_server
[controller_server-8] [INFO] [1687096239.779927810] [controller_server]: 
[controller_server-8]   controller_server lifecycle node launched. 
[controller_server-8]   Waiting on external lifecycle transitions to activate
[controller_server-8]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-8] [INFO] [1687096239.784449568] [controller_server]: Creating controller server
[controller_server-8] [INFO] [1687096239.796001178] [local_costmap.local_costmap]: 
[controller_server-8]   local_costmap lifecycle node launched. 
[controller_server-8]   Waiting on external lifecycle transitions to activate
[controller_server-8]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-8] [INFO] [1687096239.796521587] [local_costmap.local_costmap]: Creating Costmap
[planner_server-9] [INFO] [1687096239.800222566] [planner_server]: 
[planner_server-9]  planner_server lifecycle node launched. 
[planner_server-9]  Waiting on external lifecycle transitions to activate
[planner_server-9]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-9] [INFO] [1687096239.802011925] [planner_server]: Creating
[planner_server-9] [INFO] [1687096239.806918077] [global_costmap.global_costmap]: 
[planner_server-9]  global_costmap lifecycle node launched. 
[planner_server-9]  Waiting on external lifecycle transitions to activate
[planner_server-9]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-9] [INFO] [1687096239.807445846] [global_costmap.global_costmap]: Creating Costmap
[recoveries_server-10] [INFO] [1687096239.829194546] [recoveries_server]: 
[recoveries_server-10]  recoveries_server lifecycle node launched. 
[recoveries_server-10]  Waiting on external lifecycle transitions to activate
[recoveries_server-10]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-12] [INFO] [1687096239.846567287] [waypoint_follower]: 
[waypoint_follower-12]  waypoint_follower lifecycle node launched. 
[waypoint_follower-12]  Waiting on external lifecycle transitions to activate
[waypoint_follower-12]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-12] [INFO] [1687096239.847216782] [waypoint_follower]: Creating
[bt_navigator-11] [INFO] [1687096239.847646414] [bt_navigator]: 
[bt_navigator-11]   bt_navigator lifecycle node launched. 
[bt_navigator-11]   Waiting on external lifecycle transitions to activate
[bt_navigator-11]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-11] [INFO] [1687096239.847726040] [bt_navigator]: Creating
[lifecycle_manager-13] [INFO] [1687096239.857163885] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-13] [INFO] [1687096239.858688592] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[lifecycle_manager-13] [INFO] [1687096239.860784691] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-13] [INFO] [1687096239.861547633] [lifecycle_manager_navigation]: Configuring controller_server
[rviz2-4] [INFO] [1687096240.060019976] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1687096240.060099252] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1687096240.082052896] [rviz2]: Stereo is NOT SUPPORTED
[gzserver-1] Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
[gzserver-1] Error: Non-unique names detected in type collision in
[gzserver-1] <link name='camera_link'>
[gzserver-1]   <inertial>
[gzserver-1]     <pose>0.069 -0.047 0.107 0 -0 0</pose>
[gzserver-1]     <inertia>
[gzserver-1]       <ixx>0.001</ixx>
[gzserver-1]       <ixy>0</ixy>
[gzserver-1]       <ixz>0</ixz>
[gzserver-1]       <iyy>0.001</iyy>
[gzserver-1]       <iyz>0</iyz>
[gzserver-1]       <izz>0.001</izz>
[gzserver-1]     </inertia>
[gzserver-1]     <mass>0.035</mass>
[gzserver-1]   </inertial>
[gzserver-1]   <collision name='collision'>
[gzserver-1]     <pose>0 0.047 -0.005 0 -0 0</pose>
[gzserver-1]     <geometry>
[gzserver-1]       <box>
[gzserver-1]         <size>0.008 0.13 0.022</size>
[gzserver-1]       </box>
[gzserver-1]     </geometry>
[gzserver-1]   </collision>
[gzserver-1]   <pose>0.069 -0.047 0.107 0 -0 0</pose>
[gzserver-1]   <sensor name='intel_realsense_r200_depth' type='depth'>
[gzserver-1]     <always_on>1</always_on>
[gzserver-1]     <update_rate>5</update_rate>
[gzserver-1]     <pose>0.064 -0.047 0.107 0 -0 0</pose>
[gzserver-1]     <camera name='realsense_depth_camera'>
[gzserver-1]       <horizontal_fov>1.047</horizontal_fov>
[gzserver-1]       <image>
[gzserver-1]         <width>320</width>
[gzserver-1]         <height>240</height>
[gzserver-1]       </image>
[gzserver-1]       <clip>
[gzserver-1]         <near>0.1</near>
[gzserver-1]         <far>100</far>
[gzserver-1]       </clip>
[gzserver-1]     </camera>
[gzserver-1]     <plugin name='intel_realsense_r200_depth_driver' filename='libgazebo_ros_camera.so'>
[gzserver-1]       <ros/>
[gzserver-1]       <camera_name>intel_realsense_r200_depth</camera_name>
[gzserver-1]       <frame_name>camera_depth_frame</frame_name>
[gzserver-1]       <hack_baseline>0.07</hack_baseline>
[gzserver-1]       <min_depth>0.001</min_depth>
[gzserver-1]       <max_depth>5.0</max_depth>
[gzserver-1]     </plugin>
[gzserver-1]   </sensor>
[gzserver-1]   <collision name='collision'>
[gzserver-1]     <pose>0 0.047 -0.005 0 -0 0</pose>
[gzserver-1]     <geometry>
[gzserver-1]       <box>
[gzserver-1]         <size>0.008 0.13 0.022</size>
[gzserver-1]       </box>
[gzserver-1]     </geometry>
[gzserver-1]   </collision>
[gzserver-1]   <pose>0.069 -0.047 0.107 0 -0 0</pose>
[gzserver-1] </link>
[gzserver-1] 
[gzserver-1] [INFO] [1687096241.672619195] [intel_realsense_r200_depth_driver]: Publishing camera info to [/intel_realsense_r200_depth/camera_info]
[gzserver-1] [INFO] [1687096241.673301298] [intel_realsense_r200_depth_driver]: Publishing depth camera info to [/intel_realsense_r200_depth/depth/camera_info]
[gzserver-1] [INFO] [1687096241.673530858] [intel_realsense_r200_depth_driver]: Publishing pointcloud to [/intel_realsense_r200_depth/points]
[gzserver-1] [INFO] [1687096241.702440138] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m]
[gzserver-1] [INFO] [1687096241.702492549] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gzserver-1] [INFO] [1687096241.703274512] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel]
[gzserver-1] [INFO] [1687096241.705868040] [turtlebot3_diff_drive]: Advertise odometry on [/odom]
[gzserver-1] [INFO] [1687096241.708245728] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-1] [INFO] [1687096241.717273156] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1687096241.717512863] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]

So I want to know how I can solve this problem to do following step

SteveMacenski commented 1 year ago

[lifecycle_manager-13] [INFO] [1687096239.861547633] [lifecycle_manager_navigation]: Configuring controller_server

Because its already starting up, there's no need for you to do anything