port wait behavior to new gazebo

stevedanomodolor commented 1 week ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Port wait behavior.
Related issue https://github.com/ros-navigation/navigation2/issues/4455

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

[ ] Check that any new parameters added are updated in docs.nav2.org
[ ] Check that any significant change is added to the migration guide
[ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
[ ] Check that any new functions have Doxygen added
[ ] Check that any new features have test coverage
[ ] Check that any new plugins is added to the plugins page
[ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

mergify[bot] commented 1 week ago

This pull request is in conflict. Could you fix it @stevedanomodolor?

SteveMacenski commented 1 week ago

@stevedanomodolor I went through the logs on this one and noticed: ‘[ERROR] [amcl-6]: process has died [pid 6040, exit code -11, cmd '/opt/overlay_ws/install/nav2_amcl/lib/nav2_amcl/amcl --ros-args --log-level info --ros-args -r __node:=amcl -p use_sim_time:=True --params-file /tmp/launch_paramsnl3yyz5 -r /tf:=tf -r /tf_static:=tf_static'].‘

It looks like AMCL straight up crashed on bringup which caused this to fail since the initial pose wasn’t being received

stevedanomodolor commented 1 week ago

@stevedanomodolor I went through the logs on this one and noticed: ‘[ERROR] [amcl-6]: process has died [pid 6040, exit code -11, cmd '/opt/overlay_ws/install/nav2_amcl/lib/nav2_amcl/amcl --ros-args --log-level info --ros-args -r __node:=amcl -p use_sim_time:=True --params-file /tmp/launch_paramsnl3yyz5 -r /tf:=tf -r /tf_static:=tf_static'].‘

It looks like AMCL straight up crashed on bringup which caused this to fail since the initial pose wasn’t being received

Its kind of a mix it seems, sometimes the test fails, some times amcl is not able to set the initial pose(this causes the lifecycle node not to be able to change state). Its a bit of both. Still cant pin point the problem exaclty why it crashes though. I will be busy until today till friday, so I might not have time to look into this untill saturday.

ros-navigation / navigation2