Published map missing after updating to latest dashing sync

[ruffsl]

I wanted to test if the latest sync to ros2 dashing, that includes an updated version of FastRTPS, would solve some of the discovery and QoS issues we've been having with security.

https://discourse.ros.org/t/new-packages-and-patch-release-for-ros-2-dashing-2019-10-18/11086

So I rebuilt the official/osrf images of ros dashing on osrf/docker_images locally, then rebuilt the demo dockerfile. After commenting out part of the demo to work around issue https://github.com/ros-swg/turtlebot3_demo/issues/20 , the unsecure demo has rviz without a map, given the map server doesn't seem to be publishing any messages to its advertised /map topic:

``` $ ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=true map:=maps/map.yaml [INFO] [launch]: All log files can be found below /root/.ros/log/2019-10-18-12-49-30-468211-88a719113ba1-3589 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [lifecycle_manager-1]: process started with pid [3616] [INFO] [map_server-2]: process started with pid [3617] [INFO] [amcl-3]: process started with pid [3618] [INFO] [world_model-4]: process started with pid [3619] [INFO] [dwb_controller-5]: process started with pid [3620] [INFO] [navfn_planner-6]: process started with pid [3621] [INFO] [recoveries_node-7]: process started with pid [3624] [INFO] [bt_navigator-8]: process started with pid [3635] [INFO] [rviz2-9]: process started with pid [3645] [lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating [map_server-2] [INFO] [map_server]: Creating [world_model-4] [INFO] [world_model]: Creating World Model [recoveries_node-7] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dwb_controller-5] [INFO] [dwb_controller]: Creating [lifecycle_manager-1] [INFO] [lifecycle_manager]: Starting the system bringup... [rviz2-9] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating and initializing lifecycle service clients [recoveries_node-7] [INFO] [recoveries]: Configuring Spin [amcl-3] [INFO] [amcl]: Creating [recoveries_node-7] [INFO] [recoveries]: Configuring BackUp [lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating map_server [bt_navigator-8] [INFO] [bt_navigator]: Creating [navfn_planner-6] [INFO] [navfn_planner]: Creating [navfn_planner-6] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [world_model-4] [INFO] [global_costmap.global_costmap]: Creating Costmap [dwb_controller-5] [INFO] [local_costmap.local_costmap]: Creating Costmap [map_server-2] [INFO] [map_server]: Configuring [map_server-2] [INFO] [map_server]: OccGridLoader: Creating [map_server-2] [INFO] [map_server]: OccGridLoader: Configuring [ERROR] [lifecycle_manager-1]: process has died [pid 3616, exit code -11, cmd '/opt/ros/dashing/lib/nav2_lifecycle_manager/lifecycle_manager __node:=lifecycle_manager __params:=/tmp/tmps1bj3dm9']. [rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED [rviz2-9] [INFO] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED [rviz2-9] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-9] [ERROR] [rviz2]: "map" passed to lookupTransform argument target_frame does not exist. [rviz2-9] [ERROR] [rviz2]: "map" passed to lookupTransform argument target_frame does not exist. [rviz2-9] [ERROR] [rviz2]: "map" passed to lookupTransform argument target_frame does not exist. [rviz2-9] [ERROR] [rviz2]: "map" passed to lookupTransform argument target_frame does not exist. [rviz2-9] [ERROR] [rviz2]: "map" passed to lookupTransform argument target_frame does not exist. [rviz2-9] [ERROR] [rviz2]: "map" passed to lookupTransform argument target_frame does not exist. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [rviz2-9] [INFO] [rclcpp]: signal_handler(signal_value=2) [INFO] [amcl-3]: process has finished cleanly [pid 3618] [INFO] [world_model-4]: process has finished cleanly [pid 3619] [INFO] [dwb_controller-5]: process has finished cleanly [pid 3620] [INFO] [navfn_planner-6]: process has finished cleanly [pid 3621] [INFO] [recoveries_node-7]: process has finished cleanly [pid 3624] [INFO] [bt_navigator-8]: process has finished cleanly [pid 3635] [INFO] [rviz2-9]: process has finished cleanly [pid 3645] [bt_navigator-8] [INFO] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-8] [INFO] [bt_navigator]: Destroying [recoveries_node-7] [INFO] [rclcpp]: signal_handler(signal_value=2) [navfn_planner-6] [INFO] [rclcpp]: signal_handler(signal_value=2) [navfn_planner-6] [INFO] [navfn_planner]: Destroying [dwb_controller-5] [INFO] [rclcpp]: signal_handler(signal_value=2) [dwb_controller-5] [INFO] [dwb_controller]: Destroying [dwb_controller-5] [INFO] [local_costmap.local_costmap]: Destroying [world_model-4] [INFO] [rclcpp]: signal_handler(signal_value=2) [world_model-4] [INFO] [world_model]: Destroying [world_model-4] [INFO] [global_costmap.global_costmap]: Destroying [amcl-3] [INFO] [rclcpp]: signal_handler(signal_value=2) [amcl-3] [INFO] [amcl]: Destroying [map_server-2] [INFO] [rclcpp]: signal_handler(signal_value=2) [ERROR] [map_server-2]: process[map_server-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [map_server-2]: sending signal 'SIGTERM' to process[map_server-2] [map_server-2] Magick: quitting due to signal 51 (SIGTERM) "Terminated"... [ERROR] [map_server-2]: process has died [pid 3617, exit code 15, cmd '/opt/ros/dashing/lib/nav2_map_server/map_server __node:=map_server __params:=/tmp/tmpj1xho_uz']. ``` cc @mikaelarguedas

[ruffsl]

After resolving my mis-tagging in #20 , the unsecure demo seems less flaky. For the secure demo, while the map is published and received in rviz, the demo still seems to be having issues with successfully setting the initial pose of the robot, either from the CLI or rviz. Most likely still https://github.com/ros-swg/turtlebot3_demo/issues/12