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ROS 2 Navigation Framework and System
https://nav2.org/
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cloned_multi_tb3_simulation_launch map is not being published #4260

Closed Unknown-Student closed 5 months ago

Unknown-Student commented 5 months ago

Bug report

Required Info:

Steps to reproduce issue

I launched the cloned_multi_tb3_simulation_launch.py launchfile as follows:

ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 2.0, yaw: 1.5707}; robot2={x: 1.0, y: -2.0, yaw: 1.5707}" slam:=False

Expected behavior

Start of Gazebo and two Rviz windows, one for each robot with the map loaded.

Actual behavior

No map is loaded and the map server is also not started. The RQT Graph and the ros2 topic list do not show a map topic. Do I need to remap a topic manually ? I would expect the map to be published to /map respectively.

The Gazebo Simulation starts with the two robots and two Rviz windows open one for each robot: image

RQT Graph: rosgraph

output of ros2 topic list

/clock
/diagnostics
/parameter_events
/performance_metrics
/robot1/cmd_vel
/robot1/global_costmap/costmap
/robot1/global_costmap/costmap_updates
/robot1/imu
/robot1/initialpose
/robot1/intel_realsense_r200_depth/camera_info
/robot1/intel_realsense_r200_depth/depth/camera_info
/robot1/intel_realsense_r200_depth/depth/image_raw
/robot1/intel_realsense_r200_depth/depth/image_raw/compressed
/robot1/intel_realsense_r200_depth/depth/image_raw/compressedDepth
/robot1/intel_realsense_r200_depth/depth/image_raw/theora
/robot1/intel_realsense_r200_depth/image_raw
/robot1/intel_realsense_r200_depth/image_raw/compressed
/robot1/intel_realsense_r200_depth/image_raw/compressedDepth
/robot1/intel_realsense_r200_depth/image_raw/theora
/robot1/intel_realsense_r200_depth/points
/robot1/joint_states
/robot1/local_costmap/costmap
/robot1/local_costmap/costmap_updates
/robot1/local_costmap/published_footprint
/robot1/local_plan
/robot1/map
/robot1/map_updates
/robot1/mobile_base/sensors/bumper_pointcloud
/robot1/odom
/robot1/particle_cloud
/robot1/plan
/robot1/robot_description
/robot1/scan
/robot1/tf
/robot1/tf_static
/robot1/waypoints
/robot2/amcl/transition_event
/robot2/behavior_server/transition_event
/robot2/bt_navigator/transition_event
/robot2/cmd_vel
/robot2/controller_server/transition_event
/robot2/global_costmap/costmap
/robot2/global_costmap/costmap_updates
/robot2/global_costmap/global_costmap/transition_event
/robot2/imu
/robot2/initialpose
/robot2/intel_realsense_r200_depth/camera_info
/robot2/intel_realsense_r200_depth/depth/camera_info
/robot2/intel_realsense_r200_depth/depth/image_raw
/robot2/intel_realsense_r200_depth/depth/image_raw/compressed
/robot2/intel_realsense_r200_depth/depth/image_raw/compressedDepth
/robot2/intel_realsense_r200_depth/depth/image_raw/theora
/robot2/intel_realsense_r200_depth/image_raw
/robot2/intel_realsense_r200_depth/image_raw/compressed
/robot2/intel_realsense_r200_depth/image_raw/compressedDepth
/robot2/intel_realsense_r200_depth/image_raw/theora
/robot2/intel_realsense_r200_depth/points
/robot2/joint_states
/robot2/local_costmap/costmap
/robot2/local_costmap/costmap_updates
/robot2/local_costmap/local_costmap/transition_event
/robot2/local_costmap/published_footprint
/robot2/local_plan
/robot2/map
/robot2/map_server/transition_event
/robot2/map_updates
/robot2/mobile_base/sensors/bumper_pointcloud
/robot2/odom
/robot2/particle_cloud
/robot2/plan
/robot2/planner_server/transition_event
/robot2/robot_description
/robot2/scan
/robot2/smoother_server/transition_event
/robot2/tf
/robot2/tf_static
/robot2/velocity_smoother/transition_event
/robot2/waypoint_follower/transition_event
/robot2/waypoints
/rosout
SteveMacenski commented 5 months ago

Hit "startup" - Nav2 starts in the inactive state in the multirobot bringup launch files :smile:

Unknown-Student commented 5 months ago

Thank you for the quick response. However when I hit "startup" I get the following error output.

[component_container_isolated-9] [INFO] [1712997793.523376375] [robot2.lifecycle_manager_navigation]: Configuring behavior_server

[component_container_isolated-9] [INFO] [1712997793.529405218] [robot2.behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [component_container_isolated-9] [INFO] [1712997793.530493930] [robot2.behavior_server]: Configuring spin [component_container_isolated-9] [INFO] [1712997793.535834517] [robot2.behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [component_container_isolated-9] [INFO] [1712997793.536937255] [robot2.behavior_server]: Configuring backup [component_container_isolated-9] [INFO] [1712997793.541945830] [robot2.behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [component_container_isolated-9] [INFO] [1712997793.542991402] [robot2.behavior_server]: Configuring drive_on_heading [component_container_isolated-9] [INFO] [1712997793.546849067] [robot2.behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [component_container_isolated-9] [INFO] [1712997793.548907324] [robot2.behavior_server]: Configuring assisted_teleop [component_container_isolated-9] [INFO] [1712997793.555642773] [robot2.behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [component_container_isolated-9] [INFO] [1712997793.556352253] [robot2.behavior_server]: Configuring wait [component_container_isolated-9] [INFO] [1712997793.560182417] [robot2.lifecycle_manager_navigation]: Configuring bt_navigator

[component_container_isolated-9] [ERROR] [1712997793.594457838] [robot2.bt_navigator]: Caught exception in callback for transition 10 [component_container_isolated-9] [ERROR] [1712997793.594532808] [robot2.bt_navigator]: Original error: Could not load library: libnav2_are_error_codes_active_condition_bt_node.so: cannot open shared object file: No such file or directory [component_container_isolated-9] [WARN] [1712997793.594556423] [robot2.bt_navigator]: Error occurred while doing error handling. [component_container_isolated-9] [FATAL] [1712997793.594568726] [robot2.bt_navigator]: Lifecycle node bt_navigator does not have error state implemented [component_container_isolated-9] [ERROR] [1712997793.594961383] [robot2.lifecycle_manager_navigation]: Failed to change state for node: bt_navigator [component_container_isolated-9] [ERROR] [1712997793.595012168] [robot2.lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

SteveMacenski commented 5 months ago

Make sure to use an appropriate configuration file for your distribution. Don’t use the main branch’s for humble.

Unknown-Student commented 5 months ago

Hello again,

I managed to load the map.

There were two issues.

Don’t use the main branch’s for humble.

I did you the params file from the humble branch, however it seams like this params file tries to load plugins which are not available in the humble distribution. To solve the issue I copied the plugins from the nav2_params.yaml file as mentioned in #2919

The second issue was the error map_server: Original error: parameter 'yaml_filename' is not initialized This error occurred because in the nav2_multirobot_params_all.yaml the lines 262 to 264 were commented out. By commenting them in and adding the the use_sim_time: True parameter it worked.

map_server:
 ros__parameters:
    use_sim_time: True
     yaml_filename: ""

I can now navigate the two robots at once.