nav2_costmap_2d node lacks lifecycle manager bond

[AnsgarKasselmann]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• ROS2 Version:
  • Iron
• DDS implementation:
  • CycloneDDS

Steps to reproduce issue

1. Launch nav2_lifecycle_manager
2. Launch nav2_costmap_2d::nav2_costmap_2d node

Expected behavior

Standalone costmap node launches with correct configuration without errors

Actual behavior

Standalone costmap node launches but lifecycle manager can't create bond and hence aborts bringup

Additional information

This issue might be closely related to #1966 and the corresponding fix #1968 since the Costmap2DROS::on_activate() function is missing the createBond() function aswell.

Log

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-09-26-11-18-17-921799-P02053571-488 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [lifecycle_manager-1]: process started with pid [491] [INFO] [nav2_costmap_2d-2]: process started with pid [493]

[lifecycle_manager-1] [INFO] [1727349498.041337226] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [lifecycle_manager-1] [INFO] [1727349498.042892800] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-1] [INFO] [1727349498.043032901] [lifecycle_manager_navigation]: Configuring local_costmap [nav2_costmap_2d-2] [INFO] [1727349498.043382026] [local_costmap]: [nav2_costmap_2d-2] local_costmap lifecycle node launched. [nav2_costmap_2d-2] Waiting on external lifecycle transitions to activate [nav2_costmap_2d-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [nav2_costmap_2d-2] [INFO] [1727349498.045854759] [local_costmap]: Creating Costmap

[nav2_costmap_2d-2] [INFO] [1727349498.061877110] [local_costmap]: Using plugin "rgbd_obstacle_layer" [nav2_costmap_2d-2] [INFO] [1727349498.085944632] [local_costmap]: rgbd_obstacle_layer being initialized as SpatioTemporalVoxelLayer! [nav2_costmap_2d-2] [INFO] [1727349498.085995437] [local_costmap]: rgbd_obstacle_layer's global frame is odom. [nav2_costmap_2d-2] [INFO] [1727349498.086379775] [local_costmap]: rgbd_obstacle_layer loaded parameters from parameter server. [nav2_costmap_2d-2] [INFO] [1727349498.088059443] [local_costmap]: rgbd_obstacle_layer created underlying voxel grid. [nav2_costmap_2d-2] [INFO] [1727349498.088531153] [local_costmap]: Passthough filter activated. [nav2_costmap_2d-2] [INFO] [1727349498.089879769] [local_costmap]: Passthough filter activated. [nav2_costmap_2d-2] [INFO] [1727349498.090381813] [local_costmap]: rgbd_obstacle_layer initialization complete! [nav2_costmap_2d-2] [INFO] [1727349498.090403497] [local_costmap]: Initialized plugin "rgbd_obstacle_layer" [nav2_costmap_2d-2] [INFO] [1727349498.090408603] [local_costmap]: Using plugin "inflation_layer" [nav2_costmap_2d-2] [INFO] [1727349498.092563301] [local_costmap]: Initialized plugin "inflation_layer" [lifecycle_manager-1] [INFO] [1727349498.097255965] [lifecycle_manager_navigation]: Activating local_costmap

[nav2_costmap_2d-2] [INFO] [1727349498.097334785] [local_costmap]: Checking transform

[nav2_costmap_2d-2] [INFO] [1727349498.097399786] [local_costmap]: rgbd_obstacle_layer was activated. [lifecycle_manager-1] [ERROR] [1727349500.364462253] [lifecycle_manager_navigation]: Server local_costmap was unable to be reached after 4.00s by bond. This server may be misconfigured. [lifecycle_manager-1] [ERROR] [1727349500.364784493] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

[SteveMacenski]

According to the docs, you can disable the bond heartbeat using a value of 0 for the bond_timeout to allow non-bond connected nodes to use the lifecycle manager.

[SteveMacenski]

@AnsgarKasselmann Any thoughts or updates?

[AnsgarKasselmann]

@SteveMacenski Thanks. Yes, suggested solutions works!