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ROS 2 Navigation Framework and System
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local costmap, globalmap no map received. #4288

Closed tugbakara closed 4 months ago

tugbakara commented 4 months ago

Bug report

Required Info:

Steps to reproduce issue

I have install from source navigation2 humble-devel, then I create two launches for the real robot. First one start sensors,rkf,urdf and the secon one consists of slam_tolbox, isaac_map_localization, lastlty nav2 nodes. I set all tfs, topics that are related to scan, map,base_link,odom. In the below there are launches, yaml files. launch file:

$ ros2 launch robot_controller 2slam_isaac_map_nav2.launch.py 
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-05-01-13-46-23-758377-ubuntu-desktop-52257
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [localization_slam_toolbox_node-1]: process started with pid [52573]
[INFO] [component_container_mt-2]: process started with pid [52575]
[INFO] [component_container_mt-3]: process started with pid [52577]
[INFO] [controller_server-4]: process started with pid [52579]
[INFO] [smoother_server-5]: process started with pid [52581]
[INFO] [planner_server-6]: process started with pid [52584]
[INFO] [behavior_server-7]: process started with pid [52587]
[INFO] [bt_navigator-8]: process started with pid [52607]
[INFO] [waypoint_follower-9]: process started with pid [52630]
[INFO] [velocity_smoother-10]: process started with pid [52652]
[INFO] [lifecycle_manager-11]: process started with pid [52662]
[bt_navigator-8] [INFO] [1714560387.206170974] [bt_navigator]: 
[bt_navigator-8]    bt_navigator lifecycle node launched. 
[bt_navigator-8]    Waiting on external lifecycle transitions to activate
[bt_navigator-8]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-8] [INFO] [1714560387.206454914] [bt_navigator]: Creating
[localization_slam_toolbox_node-1] [INFO] [1714560387.223904114] [slam_toolbox]: Node using stack size 40000000
[controller_server-4] [INFO] [1714560387.280502357] [controller_server]: 
[controller_server-4]   controller_server lifecycle node launched. 
[controller_server-4]   Waiting on external lifecycle transitions to activate
[controller_server-4]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-6] [INFO] [1714560387.317247627] [planner_server]: 
[planner_server-6]  planner_server lifecycle node launched. 
[planner_server-6]  Waiting on external lifecycle transitions to activate
[planner_server-6]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[behavior_server-7] [INFO] [1714560387.376496013] [behavior_server]: 
[behavior_server-7]     behavior_server lifecycle node launched. 
[behavior_server-7]     Waiting on external lifecycle transitions to activate
[behavior_server-7]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-6] [INFO] [1714560387.403290893] [planner_server]: Creating
[lifecycle_manager-11] [INFO] [1714560387.473908055] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-11] [INFO] [1714560387.479603835] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[component_container_mt-2] [INFO] [1714560387.490749727] [laserscan_to_flatscan_container]: Load Library: /home/ubuntu/RobotProject/TossoRobot/install/isaac_ros_pointcloud_utils/lib/liblaserscan_to_flatscan_node.so
[component_container_mt-2] [INFO] [1714560387.494436939] [laserscan_to_flatscan_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::pointcloud_utils::LaserScantoFlatScanNode>
[component_container_mt-2] [INFO] [1714560387.494544429] [laserscan_to_flatscan_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::pointcloud_utils::LaserScantoFlatScanNode>
[controller_server-4] [INFO] [1714560387.506137751] [controller_server]: Creating controller server
[component_container_mt-3] [INFO] [1714560387.616649725] [occupancy_grid_localizer_container]: Load Library: /home/ubuntu/RobotProject/TossoRobot/install/isaac_ros_occupancy_grid_localizer/lib/liboccupancy_grid_localizer.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/laserscan_to_flatscan' in container '/laserscan_to_flatscan_container'
[component_container_mt-2] [WARN] [1714560387.927493047] [laserscan_to_flatscan]: New publisher discovered on topic '/scan_multi', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container_mt-3] [INFO] [1714560387.950504362] [occupancy_grid_localizer_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::nitros::NitrosNode>
[component_container_mt-3] [INFO] [1714560387.952206910] [occupancy_grid_localizer_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::occupancy_grid_localizer::OccupancyGridLocalizerNode>
[component_container_mt-3] [INFO] [1714560387.953423052] [occupancy_grid_localizer_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::occupancy_grid_localizer::OccupancyGridLocalizerNode>
[localization_slam_toolbox_node-1] [INFO] [1714560387.957673823] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[localization_slam_toolbox_node-1] [INFO] [1714560387.960393184] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[smoother_server-5] [INFO] [1714560388.041673961] [smoother_server]: 
[smoother_server-5]     smoother_server lifecycle node launched. 
[smoother_server-5]     Waiting on external lifecycle transitions to activate
[smoother_server-5]     See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-9] [INFO] [1714560388.049629543] [waypoint_follower]: 
[waypoint_follower-9]   waypoint_follower lifecycle node launched. 
[waypoint_follower-9]   Waiting on external lifecycle transitions to activate
[waypoint_follower-9]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-9] [INFO] [1714560388.052208294] [waypoint_follower]: Creating
[velocity_smoother-10] [INFO] [1714560388.063358699] [velocity_smoother]: 
[velocity_smoother-10]  velocity_smoother lifecycle node launched. 
[velocity_smoother-10]  Waiting on external lifecycle transitions to activate
[velocity_smoother-10]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-5] [INFO] [1714560388.102722400] [smoother_server]: Creating smoother server
[planner_server-6] [INFO] [1714560388.346089173] [global_costmap.global_costmap]: 
[planner_server-6]  global_costmap lifecycle node launched. 
[planner_server-6]  Waiting on external lifecycle transitions to activate
[planner_server-6]  See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-6] [INFO] [1714560388.359300594] [global_costmap.global_costmap]: Creating Costmap
[component_container_mt-3] [INFO] [1714560388.367423379] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-3] [INFO] [1714560388.367702870] [occupancy_grid_localizer]: [NitrosNode] Initializing NitrosNode
[component_container_mt-3] [INFO] [1714560388.369109191] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-3] [INFO] [1714560388.430398241] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-3] [INFO] [1714560388.468919597] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[localization_slam_toolbox_node-1] Load From File /home/ubuntu/RobotProject/maps/map28martdeneme.posegraph 
[localization_slam_toolbox_node-1] Mapper <- Module
[localization_slam_toolbox_node-1] Mapper <- m_pSequentialScanMatcher
[localization_slam_toolbox_node-1] Mapper <- m_pGraph
[localization_slam_toolbox_node-1] MapperGraph <- Graph; Graph <- m_Edges; Graph <- m_Vertices
[localization_slam_toolbox_node-1] MapperGraph <- m_pMapper; MapperGraph <- m_pLoopScanMatcher; MapperGraph <- m_pTraversal
[localization_slam_toolbox_node-1] Mapper <- m_pMapperSensorManager
[localization_slam_toolbox_node-1] MapperSensorManager <- m_ScanManagers; MapperSensorManager <- m_Scans
[localization_slam_toolbox_node-1] Mapper <- m_Listeners
[localization_slam_toolbox_node-1] **Finished serializing Mapper**
[localization_slam_toolbox_node-1] Load From File
[localization_slam_toolbox_node-1] **Serializing Dataset**
[localization_slam_toolbox_node-1] Dataset <- m_SensorNameLookup
[localization_slam_toolbox_node-1] Dataset <- m_Data
[localization_slam_toolbox_node-1] Dataset <- m_Lasers
[localization_slam_toolbox_node-1] Dataset <- m_pDatasetInfo
[localization_slam_toolbox_node-1] **Finished serializing Dataset**
[localization_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]
[component_container_mt-3] [INFO] [1714560388.566573400] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[controller_server-4] [INFO] [1714560388.585934079] [local_costmap.local_costmap]: 
[controller_server-4]   local_costmap lifecycle node launched. 
[controller_server-4]   Waiting on external lifecycle transitions to activate
[controller_server-4]   See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-4] [INFO] [1714560388.590561302] [local_costmap.local_costmap]: Creating Costmap
[component_container_mt-3] [INFO] [1714560388.644283415] [NitrosContext]: [NitrosContext] Loading application: '/home/ubuntu/RobotProject/TossoRobot/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-3] [INFO] [1714560388.656851884] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-3] [INFO] [1714560388.664482631] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-3] 2024-05-01 13:46:28.666 WARN  gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-3] [INFO] [1714560389.117388861] [occupancy_grid_localizer]: [NitrosNode] Starting NitrosNode
[component_container_mt-3] [INFO] [1714560389.117862050] [occupancy_grid_localizer]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-3] [INFO] [1714560389.121679280] [occupancy_grid_localizer]: [NitrosNode] Loading built-in extension specs
[component_container_mt-3] [INFO] [1714560389.152146971] [occupancy_grid_localizer]: [NitrosNode] Loading preset extension specs
[component_container_mt-3] [INFO] [1714560389.153868207] [occupancy_grid_localizer]: [NitrosNode] Loading extension specs
[component_container_mt-3] [INFO] [1714560389.153941424] [occupancy_grid_localizer]: [NitrosNode] Loading generator rules
[component_container_mt-3] [INFO] [1714560389.154492823] [occupancy_grid_localizer]: [NitrosNode] Loading extensions
[component_container_mt-3] [INFO] [1714560389.155370497] [occupancy_grid_localizer]: [NitrosContext] Loading extension: gxf/lib/libgxf_message_compositor.so
[component_container_mt-3] [INFO] [1714560389.159258095] [occupancy_grid_localizer]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-3] [INFO] [1714560389.175567570] [occupancy_grid_localizer]: [NitrosContext] Loading extension: gxf/lib/libgxf_cuda.so
[component_container_mt-3] [INFO] [1714560389.195792067] [occupancy_grid_localizer]: [NitrosContext] Loading extension: gxf/lib/libgxf_utils.so
[component_container_mt-3] [INFO] [1714560389.205391285] [occupancy_grid_localizer]: [NitrosContext] Loading extension: gxf/lib/libgxf_localization.so
[component_container_mt-3] [INFO] [1714560389.212537866] [occupancy_grid_localizer]: [NitrosContext] Loading extension: gxf/lib/libgxf_flatscan_localization.so
[component_container_mt-3] [INFO] [1714560389.221450740] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-3] [INFO] [1714560389.224862045] [occupancy_grid_localizer]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-3] [INFO] [1714560389.230107579] [occupancy_grid_localizer]: [NitrosNode] Running optimization
[component_container_mt-3] [INFO] [1714560389.269746291] [occupancy_grid_localizer]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-3] [INFO] [1714560389.271577065] [occupancy_grid_localizer]: [NitrosNode] Creating negotiated publishers/subscribers
[component_container_mt-3] [INFO] [1714560389.309330603] [occupancy_grid_localizer]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/occupancy_grid_localizer' in container '/occupancy_grid_localizer_container'
[lifecycle_manager-11] [INFO] [1714560389.337719165] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-11] [INFO] [1714560389.337833023] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-4] [INFO] [1714560389.338487526] [controller_server]: Configuring controller interface
[controller_server-4] [INFO] [1714560389.338992460] [controller_server]: getting goal checker plugins..
[controller_server-4] [INFO] [1714560389.339235567] [controller_server]: Controller frequency set to 30.0000Hz
[controller_server-4] [INFO] [1714560389.339314768] [local_costmap.local_costmap]: Configuring
[controller_server-4] [INFO] [1714560389.372346202] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-4] [INFO] [1714560389.394588963] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-4] [INFO] [1714560389.448044287] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-4] [INFO] [1714560389.448149761] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-4] [INFO] [1714560389.449826741] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[localization_slam_toolbox_node-1] [INFO] [1714560389.498187989] [slam_toolbox]: Message Filter dropping message: frame 'lidar_Front_1' at time 1714560389.387 for reason 'discarding message because the queue is full'
[controller_server-4] [INFO] [1714560389.506154420] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-4] [INFO] [1714560389.509540604] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-4] [INFO] [1714560389.511781655] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-4] [INFO] [1714560389.517929696] [controller_server]: Created controller : FollowPath of type nav2_mppi_controller::MPPIController
[controller_server-4] [WARN] [1714560389.520761730] [controller_server]: Controller period is less then model dt, consider setting it equal
[controller_server-4] [INFO] [1714560389.528419517] [controller_server]: ConstraintCritic instantiated with 1 power and 4.000000 weight.
[controller_server-4] [INFO] [1714560389.528543454] [controller_server]: Critic loaded : mppi::critics::ConstraintCritic
[controller_server-4] [INFO] [1714560389.533697148] [controller_server]: ObstaclesCritic instantiated with 1 power and 20.000000 / 1.500000 weights. Critic will collision check based on circular cost.
[controller_server-4] [INFO] [1714560389.533796669] [controller_server]: Critic loaded : mppi::critics::ObstaclesCritic
[controller_server-4] [INFO] [1714560389.535573042] [controller_server]: GoalCritic instantiated with 1 power and 5.000000 weight.
[controller_server-4] [INFO] [1714560389.535689492] [controller_server]: Critic loaded : mppi::critics::GoalCritic
[controller_server-4] [INFO] [1714560389.538705687] [controller_server]: GoalAngleCritic instantiated with 1 power, 3.000000 weight, and 0.400000 angular threshold.
[controller_server-4] [INFO] [1714560389.538806265] [controller_server]: Critic loaded : mppi::critics::GoalAngleCritic
[controller_server-4] [INFO] [1714560389.542075104] [controller_server]: ReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight
[controller_server-4] [INFO] [1714560389.542452356] [controller_server]: Critic loaded : mppi::critics::PathAlignCritic
[controller_server-4] [INFO] [1714560389.543848661] [controller_server]: Critic loaded : mppi::critics::PathFollowCritic
[controller_server-4] [INFO] [1714560389.546883961] [controller_server]: PathAngleCritic instantiated with 1 power and 2.000000 weight. Reversing allowed.
[controller_server-4] [INFO] [1714560389.546994330] [controller_server]: Critic loaded : mppi::critics::PathAngleCritic
[controller_server-4] [INFO] [1714560389.549175860] [controller_server]: PreferForwardCritic instantiated with 1 power and 5.000000 weight.
[controller_server-4] [INFO] [1714560389.549427447] [controller_server]: Critic loaded : mppi::critics::PreferForwardCritic
[localization_slam_toolbox_node-1] [INFO] [1714560389.555770915] [slam_toolbox]: Message Filter dropping message: frame 'lidar_Front_1' at time 1714560389.444 for reason 'discarding message because the queue is full'
[controller_server-4] [INFO] [1714560389.564459402] [controller_server]: Optimizer reset
[controller_server-4] [INFO] [1714560389.582618531] [MPPIController]: Configured MPPI Controller: FollowPath
[controller_server-4] [INFO] [1714560389.582703748] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-11] [INFO] [1714560389.621079693] [lifecycle_manager_navigation]: Configuring smoother_server
[localization_slam_toolbox_node-1] [INFO] [1714560389.621759413] [slam_toolbox]: Message Filter dropping message: frame 'lidar_Front_1' at time 1714560389.498 for reason 'discarding message because the queue is full'
[smoother_server-5] [INFO] [1714560389.621841046] [smoother_server]: Configuring smoother server
[localization_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]
[smoother_server-5] [INFO] [1714560389.743276732] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-5] [INFO] [1714560389.765817417] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[lifecycle_manager-11] [INFO] [1714560389.876733714] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-6] [INFO] [1714560389.877699166] [planner_server]: Configuring
[planner_server-6] [INFO] [1714560389.877789215] [global_costmap.global_costmap]: Configuring
[planner_server-6] [INFO] [1714560389.917143860] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-6] [INFO] [1714560389.964385254] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with volatile durability
[planner_server-6] [INFO] [1714560389.980825130] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-6] [INFO] [1714560389.981774806] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-6] [INFO] [1714560390.000837017] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-6] [INFO] [1714560390.072888435] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-6] [INFO] [1714560390.072964755] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-6] [INFO] [1714560390.077121669] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-6] [INFO] [1714560390.137684534] [planner_server]: Created global planner plugin GridBased of type nav2_smac_planner/SmacPlannerHybrid
[planner_server-6] [INFO] [1714560390.137830072] [planner_server]: Configuring GridBased of type SmacPlannerHybrid
[planner_server-6] [INFO] [1714560390.150017545] [planner_server]: Even sized heuristic lookup table size set 400.000000, increasing size by 1 to make odd
[component_container_mt-3] [INFO] [1714560390.316222756] [occupancy_grid_localizer]: [NitrosNode] Starting post negotiation setup
[component_container_mt-3] [INFO] [1714560390.316345253] [occupancy_grid_localizer]: [NitrosNode] Getting data format negotiation results
[component_container_mt-3] [INFO] [1714560390.316378246] [occupancy_grid_localizer]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-3] [INFO] [1714560390.316491431] [occupancy_grid_localizer]: [NitrosPublisher] Use only the compatible publisher: topic_name="/initialpose", data_format="nitros_pose_cov_stamped"
[component_container_mt-3] [INFO] [1714560390.316518567] [occupancy_grid_localizer]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-3] [INFO] [1714560390.316532168] [occupancy_grid_localizer]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/flatscan_localization", data_format="nitros_flat_scan"
[component_container_mt-3] [INFO] [1714560390.316817739] [occupancy_grid_localizer]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-3] [INFO] [1714560390.328094705] [occupancy_grid_localizer]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/CLKPXTTVZW/CLKPXTTVZW.yaml"
[component_container_mt-3] [INFO] [1714560390.328220819] [occupancy_grid_localizer]: [NitrosNode] Calling user's pre-load-graph callback
[component_container_mt-3] [INFO] [1714560390.328245107] [occupancy_grid_localizer]: [OccupancyGridLocalizerNode] preLoadGraphCallback().
[component_container_mt-3] [INFO] [1714560390.328288212] [occupancy_grid_localizer]: [NitrosNode] Loading application
[component_container_mt-3] [INFO] [1714560390.328310292] [occupancy_grid_localizer]: [NitrosContext] Loading application: '/tmp/isaac_ros_nitros/graphs/CLKPXTTVZW/CLKPXTTVZW.yaml'
[component_container_mt-3] 2024-05-01 13:46:30.334 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'sample_distance' in component 'occupancy_grid_map'.
[component_container_mt-3] 2024-05-01 13:46:30.334 WARN  gxf/std/yaml_file_loader.cpp@1058: Using unregistered parameter 'dummy_rx' in component 'grid_search_localizer'.
[component_container_mt-3] [INFO] [1714560390.335897038] [occupancy_grid_localizer]: [NitrosNode] Linking Nitros pub/sub to the loaded application
[component_container_mt-3] [INFO] [1714560390.336202290] [occupancy_grid_localizer]: [NitrosNode] Calling user's post-load-graph callback
[component_container_mt-3] [INFO] [1714560390.336407988] [occupancy_grid_localizer]: [NitrosContext] Initializing application...
[component_container_mt-3] [INFO] [1714560390.581945792] [occupancy_grid_localizer]: [NitrosContext] Running application...
[component_container_mt-3] [INFO] [1714560390.582391781] [occupancy_grid_localizer]: [NitrosNode] Starting a heartbeat timer (eid=52)
[planner_server-6] [INFO] [1714560393.393430956] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 298 X 208 at 0.050000 m/pix
[planner_server-6] [INFO] [1714560408.403118132] [planner_server]: Configured plugin GridBased of type SmacPlannerHybrid with maximum iterations 1000000, max on approach iterations 1000, and allowing unknown traversal. Tolerance 0.35.Using motion model: Reeds-Shepp.
[planner_server-6] [INFO] [1714560408.403266262] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-11] [INFO] [1714560408.450575109] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-7] [INFO] [1714560408.451211564] [behavior_server]: Configuring
[behavior_server-7] [INFO] [1714560408.487952734] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-7] [INFO] [1714560408.490786399] [behavior_server]: Configuring spin
[behavior_server-7] [INFO] [1714560408.527254766] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-7] [INFO] [1714560408.530017166] [behavior_server]: Configuring backup
[behavior_server-7] [INFO] [1714560408.570650670] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-7] [INFO] [1714560408.573443087] [behavior_server]: Configuring drive_on_heading
[behavior_server-7] [INFO] [1714560408.609996479] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-7] [INFO] [1714560408.616400714] [behavior_server]: Configuring assisted_teleop
[behavior_server-7] [INFO] [1714560408.659362053] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-7] [INFO] [1714560408.663936955] [behavior_server]: Configuring wait
[lifecycle_manager-11] [INFO] [1714560408.694772135] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-8] [INFO] [1714560408.695772595] [bt_navigator]: Configuring
[lifecycle_manager-11] [INFO] [1714560408.950158638] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-9] [INFO] [1714560408.950797046] [waypoint_follower]: Configuring
[waypoint_follower-9] [INFO] [1714560409.027699234] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-11] [INFO] [1714560409.032890879] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-10] [INFO] [1714560409.034501074] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-11] [INFO] [1714560409.049426466] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-4] [INFO] [1714560409.049968648] [controller_server]: Activating
[controller_server-4] [INFO] [1714560409.050076906] [local_costmap.local_costmap]: Activating
[controller_server-4] [INFO] [1714560409.050213515] [local_costmap.local_costmap]: Checking transform
[controller_server-4] [INFO] [1714560409.050432526] [local_costmap.local_costmap]: start
[controller_server-4] [WARN] [1714560409.302386059] [controller_server]: Parameter controller_server.verbose not found
[controller_server-4] [INFO] [1714560409.309861603] [controller_server]: Optimizer reset
[controller_server-4] [INFO] [1714560409.311740537] [MPPIController]: Activated MPPI Controller: FollowPath
[controller_server-4] [INFO] [1714560409.311833370] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560409.435559598] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-11] [INFO] [1714560409.435698096] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-5] [INFO] [1714560409.436647355] [smoother_server]: Activating
[smoother_server-5] [INFO] [1714560409.436741212] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560409.551014721] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-11] [INFO] [1714560409.551138338] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-6] [INFO] [1714560409.551974124] [planner_server]: Activating
[planner_server-6] [INFO] [1714560409.552091469] [global_costmap.global_costmap]: Activating
[planner_server-6] [INFO] [1714560409.552139854] [global_costmap.global_costmap]: Checking transform
[planner_server-6] [INFO] [1714560409.552361680] [global_costmap.global_costmap]: start
[planner_server-6] [INFO] [1714560409.804467215] [planner_server]: Activating plugin GridBased of type SmacPlannerHybrid
[planner_server-6] [INFO] [1714560409.807219920] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560409.927775294] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-11] [INFO] [1714560409.927925920] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-7] [INFO] [1714560409.928770570] [behavior_server]: Activating
[behavior_server-7] [INFO] [1714560409.928846763] [behavior_server]: Activating spin
[behavior_server-7] [INFO] [1714560409.928877003] [behavior_server]: Activating backup
[behavior_server-7] [INFO] [1714560409.928898604] [behavior_server]: Activating drive_on_heading
[behavior_server-7] [INFO] [1714560409.928919116] [behavior_server]: Activating assisted_teleop
[behavior_server-7] [INFO] [1714560409.928935660] [behavior_server]: Activating wait
[behavior_server-7] [INFO] [1714560409.928961004] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560410.047879079] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-11] [INFO] [1714560410.047988969] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-8] [INFO] [1714560410.048778354] [bt_navigator]: Activating
[bt_navigator-8] [INFO] [1714560410.319342953] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560410.433857680] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-11] [INFO] [1714560410.433990129] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-9] [INFO] [1714560410.435140511] [waypoint_follower]: Activating
[waypoint_follower-9] [INFO] [1714560410.435555044] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560410.559223766] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-11] [INFO] [1714560410.559332567] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-10] [INFO] [1714560410.560136289] [velocity_smoother]: Activating
[velocity_smoother-10] [INFO] [1714560410.560277219] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[lifecycle_manager-11] [INFO] [1714560410.675257007] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-11] [INFO] [1714560410.675374800] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-11] [INFO] [1714560410.675401648] [lifecycle_manager_navigation]: Creating bond timer...

_nav2param file

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_footprint # base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    default_bt_xml_filename: nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    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_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

bt_navigator_navigate_through_poses_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 30.0 # 20.0
    min_x_velocity_threshold: 0.01 #0.001
    min_y_velocity_threshold: 0.1 #0.5
    min_theta_velocity_threshold: 0.1 #0.001
    failure_tolerance: 0.1 # 0.3
    #transform_tolerance: 3.0 # 1.0
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"

    # Default plugin for controller
    controller_plugins: ["FollowPath"]
    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    general_goal_checker:
      stateful: true # True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.1 # 0.25
      yaw_goal_tolerance: 0.1 #0.25

    # MPPI parameters
    FollowPath:
       plugin: "nav2_mppi_controller::MPPIController"
       time_steps: 56
       model_dt: 0.05
       batch_size: 2000
       vx_std: 0.2
       vy_std: 0.2
       wz_std: 0.4
       vx_max: 0.5
       vx_min: -0.35
       vy_max: 0.5
       wz_max: 1.9
       iteration_count: 1
       prune_distance: 1.7
       transform_tolerance: 0.1
       temperature: 0.3
       gamma: 0.015
       motion_model: "DiffDrive"
       visualize: false
       TrajectoryVisualizer:
         trajectory_step: 5
         time_step: 3
       AckermannConstrains:
         min_turning_r: 0.2
       critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
       ConstraintCritic:
         enabled: true
         cost_power: 1
         cost_weight: 4.0
       GoalCritic:
         enabled: true
         cost_power: 1
         cost_weight: 5.0
         threshold_to_consider: 1.0
       GoalAngleCritic:
         enabled: true
         cost_power: 1
         cost_weight: 3.0
         threshold_to_consider: 0.4
       PreferForwardCritic:
         enabled: true
         cost_power: 1
         cost_weight: 5.0
         threshold_to_consider: 0.4
       ObstaclesCritic:
         enabled: true
         cost_power: 1
         repulsion_weight: 1.5
         critical_weight: 20.0
         consider_footprint: false
         collision_cost: 10000.0
         collision_margin_distance: 0.1
         near_goal_distance: 0.5
       PathAlignCritic:
         enabled: true
         cost_power: 1
         cost_weight: 14.0
         max_path_occupancy_ratio: 0.05
         trajectory_point_step: 3
         threshold_to_consider: 0.40
         offset_from_furthest: 20
       PathFollowCritic:
         enabled: true
         cost_power: 1
         cost_weight: 5.0
         offset_from_furthest: 5
         threshold_to_consider: 0.6
       PathAngleCritic:
         enabled: true
         cost_power: 1
         cost_weight: 2.0
         offset_from_furthest: 4
         threshold_to_consider: 0.40
         max_angle_to_furthest: 1.0
       TwirlingCritic:
         enabled: true
         twirling_cost_power: 1
         twirling_cost_weight: 10.0

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0 # 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_footprint # base_link
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.025 #0.03 # 0.05
      #robot_radius: 0.22
      #footprint: "[ [0.21, 0.195], [0.21, -0.195], [-0.21, -0.195], [-0.21, 0.195] ]" # robot radius replaced with footprint
      foorptint: "[ [0.153, 0.1405], [0.153, -0.1405], [-0.153, -0.1405], [-0.153, 0.1405] ]"
      plugins: ["voxel_layer", "inflation_layer"]
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan_front
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range:  2.5 #3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0

      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 10.0 #5.0 #10.0 #3.0 #30.0 #5.0 # 3.0
        inflation_radius: 0.35   # 0.55
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: False
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 5.0 # 1.0
      publish_frequency: 2.0 # 1.0
      global_frame: map
      robot_base_frame: base_footprint # base_link
      use_sim_time: False
      #robot_radius: 0.22
      foorptint: "[[0.153, 0.1405], [0.153, -0.1405], [-0.153, -0.1405], [-0.153, 0.1405]]" # robot radius replaced with footprint
      resolution: 0.05 #0.03 # 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        #observation_persistence: 10 # How long to store messages in a buffer to add to costmap before removing them (s).
        scan:
          topic: /scan_front
          max_obstacle_height: 2.0
          clearing: True #false #True # Whether source should raytrace clear in costmap
          marking: True # Whether source should mark in costmap
          data_type: "LaserScan"
          raytrace_max_range: 5.0 #2.5 # Maximum range to raytrace clear obstacles from costmap. / 3.0 # Reduce to 2.0 for robot to remember obstacles for longer in global costmap
          raytrace_min_range: 0.0
          obstacle_max_range: 5.0 # 2.5 #2.5 # Maximum range to mark obstacles in costmap
          obstacle_min_range: 0.0

      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: False
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0 #30.0 #5.0 # 3.0
      always_send_full_costmap: True

map_server:
  ros__parameters:
    use_sim_time: False
    # Overridden in launch by the "map" launch configuration or provided default value.
    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
    yaml_filename: "/home/ubuntu/RobotProject/TossoRobot/src/robot_controller/maps/map28martdeneme.yaml"

map_saver:
  ros__parameters:
    use_sim_time: False
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: False

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0 #30.0 # 20.0
    use_sim_time: False
    planner_plugins: ["GridBased"]
    GridBased:

      plugin: "nav2_smac_planner/SmacPlannerHybrid"
      downsample_costmap: false           # whether or not to downsample the map
      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
      tolerance: 0.35 #0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
      allow_unknown: true                 # allow traveling in unknown space
      max_iterations: 1000000             # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
      max_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
      max_planning_time: 5.0              # max time in s for planner to plan, smooth
      motion_model_for_search: "REEDS_SHEPP" #"DUBIN"    # Hybrid-A* Dubin, Redds-Shepp
      angle_quantization_bins: 72         # Number of angle bins for search
      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
      minimum_turning_radius: 0.20 #0.20 #0.40        # minimum turning radius in m of path / vehicle
      reverse_penalty: 3.0 #2.0                # Penalty to apply if motion is reversing, must be => 1
      change_penalty: 0.0 # 2.0 #0.0                 # Penalty to apply if motion is changing directions (L to R), must be >= 0
      non_straight_penalty: 1.2 #1.0 #1.2           # Penalty to apply if motion is non-straight, must be => 1
      cost_penalty: 3.5 #2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
      retrospective_penalty: 0.1 #0.015
      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
      cache_obstacle_heuristic: true #false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
      viz_expansions: false               # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance.
      # change to false to avoid cutting corners and straithen the planed path too much 
      smooth_path: true # false #True            # If true, does a simple and quick smoothing post-processing to the path

      smoother:
        max_iterations: 1000
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-10
        do_refinement: true
        refinement_num: 2

smoother_server:
  ros__parameters:
    use_sim_time: False
    smoother_plugins: ["simple_smoother"] # ["simple_smoother", "teb_smoother", "dwb_smoother", "curvature_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True # 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", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    global_frame: odom
    robot_base_frame: base_footprint # base_link
    transform_tolerance: 0.1
    use_sim_time: False
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: False

waypoint_follower:
  ros__parameters:
    use_sim_time: False
    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

velocity_smoother:
  ros__parameters:
    use_sim_time: False
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.5, 0.0, 2.5] #[0.26, 0.0, 1.0] # default: [0.5, 0.0, 2.5]
    min_velocity: [-0.5, 0.0, -2.5] # [-0.26, 0.0, -1.0] # default: [-0.5, 0.0, -2.5]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: "odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

Expected behavior

After all succesfull w/o no error launches I want to see global and local costmaps wrt to map in RVIZ and able to echo their messages.

Actual behavior

When I set proper topics to globalmap and localcostmap but they are not visible in RVIZ because there is a warning which is no map received , also when I run the ros2 run topic echo with the topics which are /global_costmap/costmap and /local_costmap/costmap they are empty, no messege was received.

Additional information

When I run echo for map,scan topics there were messages. To be ensure this is not missing frame I also listen tfs and run ros2 run tf2_tools view_frames , and frames looks okay map-odom-and the rest connect each other with the corrct order. When I was looking bugs reported in 3014 , the most probability it has causes the problem I faced. When ı check the humvle rclcpp it has from 20231228 as shown below:

$dpkg -l | grep humble-rclcpp
ii  ros-humble-rclcpp                                  16.0.7-1focal.20231219.005600         arm64        The ROS client library in C++.
ii  ros-humble-rclcpp-action                           16.0.7-1focal.20231219.032530         arm64        Adds action APIs for C++.
ii  ros-humble-rclcpp-components                       16.0.7-1focal.20231219.032530         arm64        Package containing tools for dynamically loadable components
ii  ros-humble-rclcpp-lifecycle                        16.0.7-1focal.20231219.032536         arm64        Package containing a prototype for lifecycle implementation

But I also searched issues, another bugs and I tried whatever suggested nothing helps. I have found smilar issue but it's solution does not fit for me, I don't use simulation environment. Here is the RVIZ screen:

Screenshot from 2024-05-01 13-47-00

topics

$ros2 topic list
/behavior_server/transition_event
/behavior_tree_log
/bond
/bt_navigator/transition_event
/clock
/cloud_in
/cmd_vel
/cmd_vel_joy
/cmd_vel_nav
/cmd_vel_teleop
/cmd_vel_tracker
/controller_server/transition_event
/diagnostics
/diff_cont/cmd_vel_unstamped
/diff_cont/odom
/diff_cont/transition_event
/dynamic_joint_states
/flatscan
/flatscan_localization
/flatscan_localization/nitros
/global_costmap/costmap
/global_costmap/costmap_raw
/global_costmap/costmap_updates
/global_costmap/footprint
/global_costmap/global_costmap/transition_event
/global_costmap/published_footprint
/goal_pose
/imu
/initialpose
/initialpose/nitros
/joint_broad/transition_event
/joint_states
/local_costmap/clearing_endpoints
/local_costmap/costmap
/local_costmap/costmap_raw
/local_costmap/costmap_updates
/local_costmap/footprint
/local_costmap/local_costmap/transition_event
/local_costmap/published_footprint
/local_costmap/voxel_grid
/localization_result1
/map
/map_metadata
/map_updates
/odom
/odom_rf2o
/odometry/filtered
/parameter_events
/plan
/plan_smoothed
/planner_server/transition_event
/pose
/preempt_teleop
/read_enc_hw_if
/read_enc_hw_if1
/robot_description
/rosout
/scan_back
/scan_front
/scan_multi
/set_pose
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/smoother_server/transition_event
/speed_limit
/tf
/tf_static
/trajectories
/transformed_global_plan
/unsmoothed_plan
/velocity_smoother/transition_event
/waypoint_follower/transition_event

map topic:

$ ros2 topic echo /map
header:
  stamp:
    sec: 1714561498
    nanosec: 292899521
  frame_id: map
info:
  map_load_time:
    sec: 0
    nanosec: 0
  resolution: 0.05000000074505806
  width: 298
  height: 208
  origin:
    position:
      x: -7.435162963385436
      y: -5.150881626631871
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
data:
- -1
- -1
- -1
- -1
.
.
.
- '...'
---

and frames: Screenshot from 2024-05-01 14-06-28 I also chane RVIZ realiability,durability (QoS) settings , nothing changed.

tugbakara commented 4 months ago

I just make false use_sim_time in bringup everythins is ok.