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ROS 2 Navigation Framework and System
https://nav2.org/
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Mutli_tb3_simulation_launch.py - Original error: parameter 'yaml_filename' is not initialized #3644

Closed justin-kel closed 1 year ago

justin-kel commented 1 year ago

Bug report

Required Info:

Steps to reproduce issue

ros2 launch nav2_bringup multi_tb3_simulation_launch.py

Expected behavior

Map is loaded and displayed in RVIZ upon clicking startup and an initial position can be provided.

Actual behavior

Upon clicking startup, the following errors occur:

[component_container_isolated-9] [ERROR] [1687432498.083993208] []: Caught exception in callback for transition 10
[component_container_isolated-9] [ERROR] [1687432498.084000262] []: Original error: parameter 'yaml_filename' is not initialized
[component_container_isolated-9] [WARN] [1687432498.084020725] []: Error occurred while doing error handling.
[component_container_isolated-9] [FATAL] [1687432498.084030992] [robot2.map_server]: Lifecycle node map_server does not have error state implemented

The full output from the terminal is as follows:

[INFO] [launch]: All log files can be found below /home/justin/.ros/log/2023-06-22-19-14-44-733394-justin-129881
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Launching robot1
[INFO] [launch.user]: robot1 map yaml: /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.yaml
[INFO] [launch.user]: robot1 params yaml: /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/params/nav2_multirobot_params_1.yaml
[INFO] [launch.user]: robot1 rviz config file: /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/rviz/nav2_namespaced_view.rviz
[INFO] [launch.user]: robot1 using robot state pub: True
[INFO] [launch.user]: robot1 autostart: false
[INFO] [launch.user]: Launching robot2
[INFO] [launch.user]: robot2 map yaml: /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.yaml
[INFO] [launch.user]: robot2 params yaml: /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/params/nav2_multirobot_params_2.yaml
[INFO] [launch.user]: robot2 rviz config file: /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/rviz/nav2_namespaced_view.rviz
[INFO] [launch.user]: robot2 using robot state pub: True
[INFO] [launch.user]: robot2 autostart: false
[INFO] [gazebo-1]: process started with pid [129895]
[INFO] [rviz2-2]: process started with pid [129897]
[INFO] [spawn_entity.py-3]: process started with pid [129899]
[INFO] [robot_state_publisher-4]: process started with pid [129901]
[INFO] [component_container_isolated-5]: process started with pid [129903]
[INFO] [rviz2-6]: process started with pid [129905]
[INFO] [spawn_entity.py-7]: process started with pid [129907]
[INFO] [robot_state_publisher-8]: process started with pid [129909]
[INFO] [component_container_isolated-9]: process started with pid [129911]
[robot_state_publisher-4] [INFO] [1687432486.972442650] [robot1.robot_state_publisher]: got segment base_footprint
[robot_state_publisher-4] [INFO] [1687432486.972530860] [robot1.robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1687432486.972543641] [robot1.robot_state_publisher]: got segment base_scan
[robot_state_publisher-4] [INFO] [1687432486.972553139] [robot1.robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-4] [INFO] [1687432486.972561381] [robot1.robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-4] [INFO] [1687432486.972571298] [robot1.robot_state_publisher]: got segment camera_link
[robot_state_publisher-4] [INFO] [1687432486.972580797] [robot1.robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-4] [INFO] [1687432486.972590016] [robot1.robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-4] [INFO] [1687432486.972599514] [robot1.robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-4] [INFO] [1687432486.972609013] [robot1.robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-4] [INFO] [1687432486.972616556] [robot1.robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1687432486.972623889] [robot1.robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-4] [INFO] [1687432486.972632829] [robot1.robot_state_publisher]: got segment wheel_right_link
[robot_state_publisher-8] [INFO] [1687432486.998951479] [robot2.robot_state_publisher]: got segment base_footprint
[robot_state_publisher-8] [INFO] [1687432486.999057988] [robot2.robot_state_publisher]: got segment base_link
[robot_state_publisher-8] [INFO] [1687432486.999075797] [robot2.robot_state_publisher]: got segment base_scan
[robot_state_publisher-8] [INFO] [1687432486.999089696] [robot2.robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-8] [INFO] [1687432486.999103245] [robot2.robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-8] [INFO] [1687432486.999116585] [robot2.robot_state_publisher]: got segment camera_link
[robot_state_publisher-8] [INFO] [1687432486.999129995] [robot2.robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-8] [INFO] [1687432486.999142776] [robot2.robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-8] [INFO] [1687432486.999155766] [robot2.robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-8] [INFO] [1687432486.999169525] [robot2.robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-8] [INFO] [1687432486.999182935] [robot2.robot_state_publisher]: got segment imu_link
[robot_state_publisher-8] [INFO] [1687432486.999196764] [robot2.robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-8] [INFO] [1687432486.999210522] [robot2.robot_state_publisher]: got segment wheel_right_link
[component_container_isolated-5] [INFO] [1687432487.035048967] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_map_server/lib/libmap_server_core.so
[component_container_isolated-5] [INFO] [1687432487.051735306] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-5] [INFO] [1687432487.051797815] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-5] [INFO] [1687432487.051816323] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-5] [INFO] [1687432487.051833085] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-5] [INFO] [1687432487.057802958] [robot1.map_server]: 
[component_container_isolated-5]    map_server lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.057865397] [robot1.map_server]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/map_server' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.060714316] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_amcl/lib/libamcl_core.so
[component_container_isolated-5] [INFO] [1687432487.065428153] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-5] [INFO] [1687432487.065493036] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-5] [INFO] [1687432487.069890629] [robot1.amcl]: 
[component_container_isolated-5]    amcl lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.070898727] [robot1.amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/amcl' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.074551736] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_lifecycle_manager/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-5] [INFO] [1687432487.075453674] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-5] [INFO] [1687432487.075479864] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-5] [INFO] [1687432487.080601438] [robot1.lifecycle_manager_localization]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/lifecycle_manager_localization' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.082892391] [robot1.lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-5] [INFO] [1687432487.103014740] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_controller/lib/libcontroller_server_core.so
[component_container_isolated-9] [INFO] [1687432487.103295225] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_map_server/lib/libmap_server_core.so
[component_container_isolated-5] [INFO] [1687432487.106110830] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-5] [INFO] [1687432487.106180393] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-5] [INFO] [1687432487.111966372] [robot1.controller_server]: 
[component_container_isolated-5]    controller_server lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.117355021] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-9] [INFO] [1687432487.117414317] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-9] [INFO] [1687432487.117431149] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-9] [INFO] [1687432487.117445816] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-9] [INFO] [1687432487.123581493] [robot2.map_server]: 
[component_container_isolated-9]    map_server lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.123633176] [robot2.map_server]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/map_server' in container 'robot2/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.126278367] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_amcl/lib/libamcl_core.so
[component_container_isolated-9] [INFO] [1687432487.129606053] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-9] [INFO] [1687432487.129669958] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-5] [INFO] [1687432487.131081183] [robot1.controller_server]: Creating controller server
[component_container_isolated-9] [INFO] [1687432487.136472206] [robot2.amcl]: 
[component_container_isolated-9]    amcl lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.138212596] [robot2.amcl]: Creating
[component_container_isolated-5] [INFO] [1687432487.141690721] [robot1.local_costmap.local_costmap]: 
[component_container_isolated-5]    local_costmap lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/amcl' in container 'robot2/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.143590349] [robot1.local_costmap.local_costmap]: Creating Costmap
[component_container_isolated-9] [INFO] [1687432487.145569877] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_lifecycle_manager/lib/libnav2_lifecycle_manager_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/controller_server' in container 'robot1/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.146618343] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-9] [INFO] [1687432487.146661576] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-5] [INFO] [1687432487.147407277] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_smoother/lib/libsmoother_server_core.so
[component_container_isolated-5] [INFO] [1687432487.149934575] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-5] [INFO] [1687432487.149981299] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-9] [INFO] [1687432487.153770290] [robot2.lifecycle_manager_localization]: Creating
[component_container_isolated-9] [INFO] [1687432487.157133176] [robot2.lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/lifecycle_manager_localization' in container 'robot2/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.157141836] [robot1.smoother_server]: 
[component_container_isolated-5]    smoother_server lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.163707041] [robot1.smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/smoother_server' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.166124408] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_planner/lib/libplanner_server_core.so
[component_container_isolated-5] [INFO] [1687432487.167375066] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-5] [INFO] [1687432487.167408032] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-9] [INFO] [1687432487.172999432] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_controller/lib/libcontroller_server_core.so
[component_container_isolated-5] [INFO] [1687432487.173629126] [robot1.planner_server]: 
[component_container_isolated-5]    planner_server lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.176817198] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-9] [INFO] [1687432487.176898214] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-5] [INFO] [1687432487.179469931] [robot1.planner_server]: Creating
[component_container_isolated-5] [INFO] [1687432487.185530948] [robot1.global_costmap.global_costmap]: 
[component_container_isolated-5]    global_costmap lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.185572853] [robot2.controller_server]: 
[component_container_isolated-9]    controller_server lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.187220283] [robot1.global_costmap.global_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/planner_server' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.190700294] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_behaviors/lib/libbehavior_server_core.so
[component_container_isolated-5] [INFO] [1687432487.194840869] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-5] [INFO] [1687432487.194879352] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-5] [INFO] [1687432487.201161069] [robot1.behavior_server]: 
[component_container_isolated-5]    behavior_server lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.201293559] [robot2.controller_server]: Creating controller server
[component_container_isolated-9] [INFO] [1687432487.208541258] [robot2.local_costmap.local_costmap]: 
[component_container_isolated-9]    local_costmap lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.210156142] [robot2.local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/behavior_server' in container 'robot1/nav2_container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/controller_server' in container 'robot2/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.214288196] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_bt_navigator/lib/libbt_navigator_core.so
[component_container_isolated-9] [INFO] [1687432487.214639291] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_smoother/lib/libsmoother_server_core.so
[component_container_isolated-5] [INFO] [1687432487.216168968] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-5] [INFO] [1687432487.216194320] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-9] [INFO] [1687432487.216702141] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-9] [INFO] [1687432487.216732173] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-5] [INFO] [1687432487.223530021] [robot1.bt_navigator]: 
[component_container_isolated-5]    bt_navigator lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.223593437] [robot1.bt_navigator]: Creating
[component_container_isolated-9] [INFO] [1687432487.224428118] [robot2.smoother_server]: 
[component_container_isolated-9]    smoother_server lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/bt_navigator' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.225983915] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_waypoint_follower/lib/libwaypoint_follower_core.so
[component_container_isolated-5] [INFO] [1687432487.226655724] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-5] [INFO] [1687432487.226672835] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-9] [INFO] [1687432487.230021543] [robot2.smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/smoother_server' in container 'robot2/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.231900778] [robot1.waypoint_follower]: 
[component_container_isolated-5]    waypoint_follower lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.232662054] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_planner/lib/libplanner_server_core.so
[component_container_isolated-5] [INFO] [1687432487.233161424] [robot1.waypoint_follower]: Creating
[component_container_isolated-9] [INFO] [1687432487.233830579] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-9] [INFO] [1687432487.233863474] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/waypoint_follower' in container 'robot1/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.238968495] [robot1.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_velocity_smoother/lib/libvelocity_smoother_core.so
[component_container_isolated-9] [INFO] [1687432487.239490424] [robot2.planner_server]: 
[component_container_isolated-9]    planner_server lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.240330761] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-5] [INFO] [1687432487.240361561] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-9] [INFO] [1687432487.244893460] [robot2.planner_server]: Creating
[component_container_isolated-5] [INFO] [1687432487.248293921] [robot1.velocity_smoother]: 
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/velocity_smoother' in container 'robot1/nav2_container'
[component_container_isolated-5]    velocity_smoother lifecycle node launched. 
[component_container_isolated-5]    Waiting on external lifecycle transitions to activate
[component_container_isolated-5]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-5] [INFO] [1687432487.251072649] [robot1.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-5] [INFO] [1687432487.251113577] [robot1.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-9] [INFO] [1687432487.254193533] [robot2.global_costmap.global_costmap]: 
[component_container_isolated-9]    global_costmap lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.255480649] [robot2.global_costmap.global_costmap]: Creating Costmap
[component_container_isolated-5] [INFO] [1687432487.258248552] [robot1.lifecycle_manager_navigation]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/planner_server' in container 'robot2/nav2_container'
[component_container_isolated-5] [INFO] [1687432487.260296595] [robot1.lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot1/lifecycle_manager_navigation' in container 'robot1/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.262550671] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_behaviors/lib/libbehavior_server_core.so
[component_container_isolated-9] [INFO] [1687432487.266229661] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-9] [INFO] [1687432487.266266118] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-9] [INFO] [1687432487.272696878] [robot2.behavior_server]: 
[component_container_isolated-9]    behavior_server lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/behavior_server' in container 'robot2/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.281393517] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_bt_navigator/lib/libbt_navigator_core.so
[component_container_isolated-9] [INFO] [1687432487.283549396] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-9] [INFO] [1687432487.283571885] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-9] [INFO] [1687432487.289005931] [robot2.bt_navigator]: 
[component_container_isolated-9]    bt_navigator lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-9] [INFO] [1687432487.289060338] [robot2.bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/bt_navigator' in container 'robot2/nav2_container'
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[component_container_isolated-9] [INFO] [1687432487.291830546] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_waypoint_follower/lib/libwaypoint_follower_core.so
[component_container_isolated-9] [INFO] [1687432487.292676121] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-9] [INFO] [1687432487.292700496] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[spawn_entity.py-7] [INFO] [1687432487.296939688] [spawn_entity]: Spawn Entity started
[spawn_entity.py-7] [INFO] [1687432487.297317532] [spawn_entity]: Loading entity XML from file /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/worlds/waffle.model
[spawn_entity.py-7] [INFO] [1687432487.298127977] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[component_container_isolated-9] [INFO] [1687432487.298482425] [robot2.waypoint_follower]: 
[component_container_isolated-9]    waypoint_follower lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[spawn_entity.py-7] [INFO] [1687432487.298495345] [spawn_entity]: Waiting for service /spawn_entity
[component_container_isolated-9] [INFO] [1687432487.299465309] [robot2.waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/waypoint_follower' in container 'robot2/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.301339795] [robot2.nav2_container]: Load Library: /home/justin/ws_rmf/install/nav2_velocity_smoother/lib/libvelocity_smoother_core.so
[component_container_isolated-9] [INFO] [1687432487.302203180] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-9] [INFO] [1687432487.302227974] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-9] [INFO] [1687432487.307707068] [robot2.velocity_smoother]: 
[component_container_isolated-9]    velocity_smoother lifecycle node launched. 
[component_container_isolated-9]    Waiting on external lifecycle transitions to activate
[component_container_isolated-9]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/velocity_smoother' in container 'robot2/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.309637567] [robot2.nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-9] [INFO] [1687432487.309661453] [robot2.nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-9] [INFO] [1687432487.315338200] [robot2.lifecycle_manager_navigation]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/robot2/lifecycle_manager_navigation' in container 'robot2/nav2_container'
[component_container_isolated-9] [INFO] [1687432487.316884220] [robot2.lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[spawn_entity.py-3] [INFO] [1687432487.329472308] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1687432487.329879067] [spawn_entity]: Loading entity XML from file /home/justin/ws_rmf/install/nav2_bringup/share/nav2_bringup/worlds/waffle.model
[spawn_entity.py-3] [INFO] [1687432487.330388843] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1687432487.330597460] [spawn_entity]: Waiting for service /spawn_entity
[rviz2-2] [INFO] [1687432488.808959134] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1687432488.809043852] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1687432488.809304851] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1687432488.809363588] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1687432488.919346645] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1687432488.921238730] [rviz2]: Stereo is NOT SUPPORTED
[spawn_entity.py-7] [INFO] [1687432489.556819314] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1687432489.588055110] [spawn_entity]: Calling service /spawn_entity
[gazebo-1] [Msg] Waiting for master.
[gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gazebo-1] [Msg] Publicized address: 172.16.1.106
[gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[spawn_entity.py-7] [INFO] [1687432489.904913816] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robot2]
[INFO] [spawn_entity.py-7]: process has finished cleanly [pid 129907]
[gazebo-1] [INFO] [1687432490.187766446] [robot2.intel_realsense_r200_depth_driver]: Publishing camera info to [/robot2/intel_realsense_r200_depth/camera_info]
[gazebo-1] [INFO] [1687432490.189721320] [robot2.intel_realsense_r200_depth_driver]: Publishing depth camera info to [/robot2/intel_realsense_r200_depth/depth/camera_info]
[gazebo-1] [INFO] [1687432490.189967163] [robot2.intel_realsense_r200_depth_driver]: Publishing pointcloud to [/robot2/intel_realsense_r200_depth/points]
[gazebo-1] [INFO] [1687432490.217738523] [robot2.turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m]
[gazebo-1] [INFO] [1687432490.217789298] [robot2.turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gazebo-1] [INFO] [1687432490.218372478] [robot2.turtlebot3_diff_drive]: Subscribed to [/robot2/cmd_vel]
[gazebo-1] [INFO] [1687432490.219404251] [robot2.turtlebot3_diff_drive]: Advertise odometry on [/robot2/odom]
[gazebo-1] [INFO] [1687432490.221057688] [robot2.turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gazebo-1] [INFO] [1687432490.228932078] [robot2.turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gazebo-1] [INFO] [1687432490.228986485] [robot2.turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[spawn_entity.py-3] [INFO] [1687432490.562255092] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robot1]
[gazebo-1] [INFO] [1687432490.572464506] [robot1.intel_realsense_r200_depth_driver]: Publishing camera info to [/robot1/intel_realsense_r200_depth/camera_info]
[gazebo-1] [INFO] [1687432490.574284794] [robot1.intel_realsense_r200_depth_driver]: Publishing depth camera info to [/robot1/intel_realsense_r200_depth/depth/camera_info]
[gazebo-1] [INFO] [1687432490.574557387] [robot1.intel_realsense_r200_depth_driver]: Publishing pointcloud to [/robot1/intel_realsense_r200_depth/points]
[gazebo-1] [INFO] [1687432490.665851317] [robot1.turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m]
[gazebo-1] [INFO] [1687432490.665910893] [robot1.turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gazebo-1] [INFO] [1687432490.666220990] [robot1.turtlebot3_diff_drive]: Subscribed to [/robot1/cmd_vel]
[gazebo-1] [INFO] [1687432490.666649191] [robot1.turtlebot3_diff_drive]: Advertise odometry on [/robot1/odom]
[gazebo-1] [INFO] [1687432490.667448042] [robot1.turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gazebo-1] [INFO] [1687432490.671642116] [robot1.turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gazebo-1] [INFO] [1687432490.671694986] [robot1.turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 129899]
[rviz2-6] [INFO] [1687432492.495310839] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 0.400 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432492.679648933] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 0.601 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432492.687690875] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 0.600 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432492.879588372] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 0.800 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432492.903631294] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 0.801 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432493.095807948] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.001 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432493.103909814] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.000 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432493.287413855] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.201 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432493.295087380] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.200 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432493.479194994] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.401 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432493.487203970] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.400 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432493.680007315] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.600 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432493.704042972] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.601 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432493.895284443] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.801 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432493.903791042] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 1.800 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432494.087889157] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.001 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432494.095092227] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.000 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432494.287119418] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.200 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432494.311299927] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.201 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432494.503208316] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.401 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432494.511448887] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.400 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432494.695435324] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.601 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432494.703328362] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.600 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432494.887730916] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.801 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432494.895394664] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 2.800 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432495.087681246] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.000 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432495.111843805] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.001 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432495.303128155] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.201 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432495.311219265] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.200 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432495.495669030] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.401 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432495.503468620] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.400 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432495.687864328] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.601 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432495.695412347] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.600 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432495.888001274] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.800 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432495.911574787] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 3.801 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432496.103919545] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.001 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432496.111584829] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.000 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432496.295821714] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.201 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432496.303107966] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.200 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432496.487790792] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.401 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432496.495151915] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.400 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432496.687874027] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.600 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432496.711240739] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.601 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432496.903889028] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.801 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432496.911451505] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 4.800 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432497.095145160] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.001 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432497.103917088] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.000 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432497.295868773] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.200 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432497.319736320] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.201 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432497.511332859] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.401 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432497.519868442] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.400 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432497.703553086] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.601 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432497.711912528] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.600 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432497.895331424] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.801 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432497.903963738] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 5.800 for reason 'discarding message because the queue is full'
[component_container_isolated-9] [INFO] [1687432498.083513254] [robot2.lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-9] [INFO] [1687432498.083570455] [robot2.lifecycle_manager_navigation]: Configuring controller_server
[component_container_isolated-9] [INFO] [1687432498.083520308] [robot2.lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-9] [INFO] [1687432498.083625700] [robot2.lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-9] [INFO] [1687432498.083880204] [robot2.map_server]: Configuring
[component_container_isolated-9] [INFO] [1687432498.083880204] [robot2.controller_server]: Configuring controller interface
[component_container_isolated-9] [ERROR] [1687432498.083993208] []: Caught exception in callback for transition 10
[component_container_isolated-9] [ERROR] [1687432498.084000262] []: Original error: parameter 'yaml_filename' is not initialized
[component_container_isolated-9] [WARN] [1687432498.084020725] []: Error occurred while doing error handling.
[component_container_isolated-9] [FATAL] [1687432498.084030992] [robot2.map_server]: Lifecycle node map_server does not have error state implemented
[component_container_isolated-9] [INFO] [1687432498.084099647] [robot2.controller_server]: getting goal checker plugins..
[component_container_isolated-9] [ERROR] [1687432498.084336899] [robot2.lifecycle_manager_localization]: Failed to change state for node: map_server
[component_container_isolated-9] [ERROR] [1687432498.084363020] [robot2.lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup.
[component_container_isolated-9] [INFO] [1687432498.084388233] [robot2.controller_server]: Controller frequency set to 20.0000Hz
[component_container_isolated-9] [INFO] [1687432498.084476444] [robot2.local_costmap.local_costmap]: Configuring
[component_container_isolated-9] [INFO] [1687432498.086693992] [robot2.local_costmap.local_costmap]: Using plugin "voxel_layer"
[component_container_isolated-9] [INFO] [1687432498.090112751] [robot2.local_costmap.local_costmap]: Subscribed to Topics: scan
[component_container_isolated-9] [INFO] [1687432498.093627193] [robot2.local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[component_container_isolated-9] [INFO] [1687432498.093660997] [robot2.local_costmap.local_costmap]: Using plugin "inflation_layer"
[component_container_isolated-9] [INFO] [1687432498.094379251] [robot2.local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[rviz2-6] [INFO] [1687432498.096054058] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.000 for reason 'discarding message because the queue is full'
[component_container_isolated-9] [INFO] [1687432498.098237943] [robot2.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[component_container_isolated-9] [INFO] [1687432498.099069899] [robot2.controller_server]: Created goal checker : goal_checker of type nav2_controller::SimpleGoalChecker
[component_container_isolated-9] [INFO] [1687432498.099467789] [robot2.controller_server]: Controller Server has goal_checker  goal checkers available.
[component_container_isolated-9] [INFO] [1687432498.102463865] [robot2.controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[component_container_isolated-9] [INFO] [1687432498.103537474] [robot2.controller_server]: Setting transform_tolerance to 0.100000
[component_container_isolated-9] [ERROR] [1687432498.109160511] [robot2.controller_server]: Couldn't load critics! Caught exception: No critics defined for FollowPath
[component_container_isolated-9] [ERROR] [1687432498.112202892] []: Caught exception in callback for transition 10
[component_container_isolated-9] [ERROR] [1687432498.112223216] []: Original error: No critics defined for FollowPath
[component_container_isolated-9] [WARN] [1687432498.112246194] []: Error occurred while doing error handling.
[component_container_isolated-9] [FATAL] [1687432498.112260791] [robot2.controller_server]: Lifecycle node controller_server does not have error state implemented
[component_container_isolated-9] [ERROR] [1687432498.112535759] [robot2.lifecycle_manager_navigation]: Failed to change state for node: controller_server
[component_container_isolated-9] [ERROR] [1687432498.112559086] [robot2.lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[rviz2-2] [INFO] [1687432498.119186170] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.001 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432498.319863057] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.200 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432498.503202192] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.201 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432498.511935776] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.400 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1687432498.695274492] [robot1.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.401 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432498.703995086] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.600 for reason 'discarding message because the queue is full'
[rviz2-6] [INFO] [1687432498.895378605] [robot2.rviz]: Message Filter dropping message: frame 'base_scan' at time 6.800 for reason 'discarding message because the queue is full'
...

Additional information

The single turtlebot3 example works fine:

ros2 launch nav2_bringup tb3_simulation_launch.py

my nav2_multirobot_params_1.yaml file is as follows:

amcl:
  ros__parameters:
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_assisted_teleop_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_condition_bt_node
      - nav2_are_error_codes_active_condition_bt_node
      - nav2_would_a_controller_recovery_help_condition_bt_node
      - nav2_would_a_planner_recovery_help_condition_bt_node
      - nav2_would_a_smoother_recovery_help_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_truncate_path_local_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_path_expiring_timer_condition
      - nav2_distance_traveled_condition_bt_node
      - nav2_single_trigger_bt_node
      - nav2_goal_updated_controller_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_controller_cancel_bt_node
      - nav2_path_longer_on_approach_bt_node
      - nav2_wait_cancel_bt_node
      - nav2_spin_cancel_bt_node
      - nav2_back_up_cancel_bt_node
      - nav2_assisted_teleop_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node
      - nav2_is_battery_charging_condition_bt_node
    error_code_names:
      - compute_path_error_code
      - follow_path_error_code

controller_server:
  ros__parameters:
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["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
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # 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
      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: 0.0
      GoalAlign.scale: 0.0
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
      global_frame: odom
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: False
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /robot1/scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      robot_radius: 0.22
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /robot1/scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True

map_server:
  ros__parameters:
    yaml_filename: "turtlebot3_world.yaml"
    save_map_timeout: 5.0

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

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

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

my nav2_multirobot_params_1.yaml file is as follows:

amcl:
  ros__parameters:
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_assisted_teleop_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_condition_bt_node
      - nav2_are_error_codes_active_condition_bt_node
      - nav2_would_a_controller_recovery_help_condition_bt_node
      - nav2_would_a_planner_recovery_help_condition_bt_node
      - nav2_would_a_smoother_recovery_help_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_truncate_path_local_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_path_expiring_timer_condition
      - nav2_distance_traveled_condition_bt_node
      - nav2_single_trigger_bt_node
      - nav2_goal_updated_controller_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_controller_cancel_bt_node
      - nav2_path_longer_on_approach_bt_node
      - nav2_wait_cancel_bt_node
      - nav2_spin_cancel_bt_node
      - nav2_back_up_cancel_bt_node
      - nav2_assisted_teleop_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node
      - nav2_is_battery_charging_condition_bt_node
    error_code_names:
      - compute_path_error_code
      - follow_path_error_code

controller_server:
  ros__parameters:
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["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
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # 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
      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: 0.0
      GoalAlign.scale: 0.0
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
      global_frame: odom
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: False
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /robot1/scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      robot_radius: 0.22
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /robot1/scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True

map_server:
  ros__parameters:
    yaml_filename: "turtlebot3_world.yaml"
    save_map_timeout: 5.0

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

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

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
SteveMacenski commented 1 year ago

[component_container_isolated-9] [ERROR] [1687432498.084000262] []: Original error: parameter 'yaml_filename' is not initialized

I see not only this behavior but other servers complaining too like the DWB controller having no critics. I think that means that potentially the configuration file isn't making it to the servers? I'm not sure why that would be. I checked against main with rolling binaries and that works fine, so something is fishy that I couldn't find from a 10 minute first look. It also works fine with iron and iron binaries. So either something was backported that shouldn't have been, or something was fixed more recently that should have been backported that wasn't.

I won't have time to look into this anytime in the immediate future, so I'd recommend you take the initiative to start looking into it and let me know if you make progress or find something! Happy to review a patch or help answer questions! I'm pretty confident that the issue isn't with map server as much as it is with the launch / param system -- but it would be good to run an experiment to validate that :smile:

xkaraman commented 1 year ago

I believe this is related to #3182. I face the same issue when using ROS2 Humble, nav2 (Version: 1.1.8-2jammy.20230624.064440) installed from binaries.

As noted in #3606 in my comment, when I append the 'use_composition': 'False' all seem to work fine. ie.

IncludeLaunchDescription(
                PythonLaunchDescriptionSource(os.path.join(bringup_dir,
                                                           'launch',
                                                           'tb3_simulation_launch.py')),
                launch_arguments={'namespace': robot['name'],
                                   ...
                                  'use_composition': 'False',
                                  ...
                                  'robot_name':TextSubstitution(text=robot['name']), }.items()),

You noted that this should be solved by #3383, but it's for humble at least that it does not.

Update:

After editing localization_launch.py change the composable map server from

            ComposableNode(
                package='nav2_map_server',
                plugin='nav2_map_server::MapServer',
                name='map_server',
                parameters=[configured_params],
                remappings=remappings),

to 

            ComposableNode(
                package='nav2_map_server',
                plugin='nav2_map_server::MapServer',
                name='map_server',
                parameters=[configured_params,
                            {'yaml_filename': map_yaml_file}], # Added this to parameters
                remappings=remappings),

map_server is able to load the maps and these errors disappear.

[component_container_isolated-9] [ERROR] [1688131650.010146598] []: Caught exception in callback for transition 10
[component_container_isolated-9] [ERROR] [1688131650.010154559] []: Original error: parameter 'yaml_filename' is not initialized
[component_container_isolated-9] [WARN] [1688131650.010171663] []: Error occurred while doing error handling.

Unfortunately, I couldn't find what caused the critics error. Is RewrittenYaml reliable? Shouldn't yaml_filename already be changed according to param_substitutions?

SteveMacenski commented 1 year ago

@AlexeyMerzlyakov this seems related to some of your work, can you take the lead on it?

AlexeyMerzlyakov commented 1 year ago

The problem does not appear on Rolling. Need some time to check it for Humble.

AlexeyMerzlyakov commented 1 year ago

The problem was reproduced on Humble (using ROS2 & Nav2 in binaries). The root cause why the Map Server can not load the map - is that ROS-parameters won't read from configuration YAML where the composable nodes operating with non-empty root namespace; which was reported in #3182 (Problem No.2), and fixed in launch_ros by https://github.com/ros2/launch_ros/commit/954a2110ec271b606f6acaf6d1d72cd2e2ae05ff. This also causes, Couldn't load critics! issue, mentioned above by Steve. The root cause is the same - absence of correctly loaded configuraiton.yaml for multi-robot case.

Unfortunately, the latest launch_ros in Humble does not contain this patch:

$ sudo apt install ros-humble-launch-ros
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-launch-ros is already the newest version (0.19.4-1jammy.20230623.052147).
0 upgraded, 0 newly installed, 0 to remove and 327 not upgraded.

So, I might suggest to patch the to_parameters_list.py file manually, like this:

$ cat ~/launch_ros_fix.patch
diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index 534ec7e..6aad203 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -48,8 +48,8 @@ def __normalize_parameters_dict(dictionary):
             if isinstance(value, dict):
                 keys.append(key.lstrip('/'))
                 result_dict = normalize_parameters_dict(value, keys, result_dict)
-                # Reset keys in case there are multiple ros__parameter entries
-                keys = []
+                # Clean-up keys for the case of multiple nodes/ros__parameter entries
+                keys.pop()

         return result_dict

$ cd /opt/ros/humble/lib/python3.10/site-packages
$ sudo patch -p2 < ~/launch_ros_fix.patch

Another workaround (if you do not want to make changes in your system launch_ros package) - is to do not use composition mode:

ros2 launch nav2_bringup multi_tb3_simulation_launch.py autostart:=True use_composition:=False

This is also the case where this issue won't appear.

SteveMacenski commented 1 year ago

@AlexeyMerzlyakov thanks for the debugging! Please do submit that patch (or cherry pick the commit to backport from Rolling) and link back here / ping me so we can make sure to track progress!

AlexeyMerzlyakov commented 1 year ago

The fix was already back-ported to "humble" branch by following commit. However, it is not in the Humble binaries yet, that was already asked in https://github.com/ros2/launch_ros/pull/347 and https://github.com/ros2/launch_ros/pull/350 by the Community.

SteveMacenski commented 1 year ago

@justin-kel please follow up in those places!