Update for Foxy

[ruffsl]

@mikaelarguedas looks like this now building agents foxy, all be it from a number of forks.

Looks like the navigaiton launch files a have changed some:

root@01431cd08843:/opt# 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/2020-04-29-18-59-09-044502-01431cd08843-2319                                                                                                       │
[INFO] [launch]: Default logging verbosity is set to INFO                                                                                                                                                           │
/opt/overlay_ws/install/turtlebot3_navigation2/share/turtlebot3_navigation2/launch/navigation2.launch.py:77: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead                   │
  Node(                                                                                                                                                                                                             │
/opt/overlay_ws/install/turtlebot3_navigation2/share/turtlebot3_navigation2/launch/navigation2.launch.py:77: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead                               │
  Node(                                                                                                                                                                                                             │
[ERROR] [launch]: Caught exception in launch (see debug for traceback): [Errno 2] No such file or directory: '/opt/underlay_ws/install/nav2_bringup/share/nav2_bringup/launch/nav2_bringup_launch.py'

@SteveMacenski , which launch files should should external packages now use for navigation2?

[SteveMacenski]

@ruffsl just remove the nav2_ before bringup_launch.py. I hate redundancy. ros2 launch nav2_bringup ... so yes, we know its nav2_ already.

My next attack is going to be at the package naming with nav2_... (its in the navigation2 metapackage, we get it). That will wait until after Foxy (mhm. or before foxy so that master and foxy look similar...). If you have thoughts on that, let me know.

Side note: I didn't know this org existed. You may want to consider merging this in with https://github.com/ros-security so that all the security stuff is all in 1 place.

[ruffsl]

My next attack is going to be at the package naming

The only nav2 package that differs there is the meta package navigation2, no? I think the nav2_ prefixing of the other navigation2 sub package's names are fine. https://github.com/ros-planning/navigation2/blob/c64ee48b06d3ed24c55b7aaf6089017a080057b2/navigation2/package.xml#L4

Side note: I didn't know this org existed. You may want to consider merging this in with https://github.com/ros-security so that all the security stuff is all in 1 place.

This org/repo predates the other buy quite a bit. Not sure why we didn't just rename this org.

[SteveMacenski]

I think the nav2_ prefixing of the other navigation2 sub package's names are fine.

Its just an unimportant detail and adds a bunch of extra typing every time you want to launch something. I think that was initially done because OR at the time had a partially-straight port of Navigation in ROS2 so there were naming collisions. That's not been true since Bouncy.

[ruffsl]

Given the flat package namespace in ros distros, I think it helps keep things organized and uniquely identifiable. Many of the existing package names would be too vague or colliding if nav2_ is stripped.

Also, I think it helps discoverability when all related packages are similarly prefixed, like when installing:

# hmm, what navigation package are available for my distro?
sudo apt install ros-foxy-nav2-<tab tab>
...

[SteveMacenski]

Most of these are designed to be able to be used separately so I think it sends the wrong message. Its in the navigation2 metapackage, so that makes alot of sense.

But for instance specific plugins or methods aren't "core" to nav2 so the prefix seems odd. If we had 5 controller plugins, are they all the nav2 stack or are they implementations to be used by it? In that way, I think nav2 should be removed from most packages other than things that are "core" to nav2 like nav2_{planner, controller, utils, common, core, bringup}*

• utils shouldn't be there at all in my opinion. Slowly whittling it down...

Anyhow this is super off topic

[SteveMacenski]

I doubt that's the actual reason

I seem to recall that being the reason at the time. I did some of those ports.

that grouping helps discoverability

Alright, seems to be a common theme, I can live with it then. I'm mostly concerned about it due to the aforementioned plugin issue about "what is navigation2" when you have many options. I'm also concerned a little about AMCL, which gives the impression that you must use lidar localization or navigation to use the stack, which is a fundamental misconception many people have that I want to aggressively dispel. So much so that I have the full intent of kicking AMCL and map server out of the stack the minute I can show and document a compelling production-ready visual or depth-based positioning demo (https://github.com/ros-planning/navigation2/issues/1342). The main blocker there is the existence / setup of an open-source production(ish) grade non-laser slam. When that happens, I'd like it not to bare the nav2_ prefix to make the point that its not part of, nor required to run the stack. It has no API connection to anything else, other than providing TF transformations (the new repo would be something like navigation_auxiliary or navigation_2d or something).

[mikaelarguedas]

I seem to recall that being the reason at the time. I did some of those ports.

oh interesting, I guess thats the reason then :+1:

RE:prefixing

It makes a lot of sense to want to convey what are the "essential parts" and the "plug-able parts". Prefixing is very visual but also pretty limited so it could be interesting to explore other ways of doing so.

Not sure how it could help in practice but an interesting feature brought by package format 3 is the notion of group. So maybe all navigation planners could declare in their package.xml that they are members of the "navigation_planners" group etc

Currently except from cathin_pkg (so colcon) I'm not sure how many tools can leverage that information, but if index.ros.org and others (maybe bloom could add this to the deb info) could use it, then it would be a non-prefix based way to allow discovery.

[ruffsl]

For example adding the osrf apt repos seems unnecessary and we should rely on gazebo being provided in the ros repos.

That's just temporary until these are sorted:

• https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1080
• https://github.com/ros/rosdistro/pull/24646
• https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1093

This PR removse all the non-tb3 parts of the demo, is it intentional?

I wanted to simplify its focus back to sros2, plus I didn't want to maintain those parts of the demo, as they didn't seem active. Although, I've tagged a release that we can reference for posterity:

• https://github.com/ros-swg/turtlebot3_demo/releases/tag/roscon19

If you don't need this demo now I'd encourage you to hold off until at least desktop is released and we should have quite less changes needed in this PR.

This is more or less to test the current state of foxy before anything is released, as I wanted to automate the build setup to use with SROS2 on larger ROS graphs, rather than borking my host install.

[ruffsl]

I've updated this with the foxy release. It still uses an underlay as navigation2 and gazebo_ros_package haven't been released.

@mikaelarguedas , if you'd like to test the Dockerfile locally, it looks like the nav2 launch files are more up-to-date than whats in the tb3 gazebo repos. E.g this works fine:

ros2 launch nav2_bringup tb3_simulation_launch.py

Looks like there are now a number of nodes with duplicate names :<

``` # ros2 node list WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects. /amcl /amcl_rclcpp_node /bt_navigator /bt_navigator_rclcpp_node /controller_server /controller_server_rclcpp_node /gazebo /global_costmap/global_costmap /global_costmap/global_costmap_rclcpp_node /global_costmap_client /intel_realsense_r200_depth_driver /lifecycle_manager_localization /lifecycle_manager_localization_service_client /lifecycle_manager_navigation /lifecycle_manager_navigation_service_client /local_costmap/local_costmap /local_costmap/local_costmap_rclcpp_node /local_costmap_client /map_server /planner_server /planner_server_rclcpp_node /recoveries_server /recoveries_server_rclcpp_node /robot_state_publisher /rviz2 /rviz2 /rviz2 /rviz2 /teleop_keyboard /transform_listener_impl_557529bf1b30 /transform_listener_impl_55a4b14e5e50 /transform_listener_impl_55c7735dadf0 /transform_listener_impl_564c09857fa0 /turtlebot3_diff_drive /turtlebot3_imu /turtlebot3_joint_state /turtlebot3_laserscan /waypoint_follower /waypoint_follower ``` ``` # ros2 topic list /amcl/transition_event /amcl_pose /bt_navigator/transition_event /clicked_point /clock /cmd_vel /controller_server/transition_event /cost_cloud /evaluation /global_costmap/clearing_endpoints /global_costmap/costmap /global_costmap/costmap_raw /global_costmap/costmap_updates /global_costmap/footprint /global_costmap/global_costmap/transition_event /global_costmap/parameter_events /global_costmap/published_footprint /global_costmap/voxel_grid /global_costmap/voxel_marked_cloud /goal_pose /imu /initialpose /intel_realsense_r200_depth/camera_info /intel_realsense_r200_depth/depth/camera_info /intel_realsense_r200_depth/depth/image_raw /intel_realsense_r200_depth/image_raw /intel_realsense_r200_depth/points /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/parameter_events /local_costmap/published_footprint /local_costmap/voxel_grid /local_costmap/voxel_marked_cloud /local_plan /map /map_server/transition_event /map_updates /marker /mobile_base/sensors/bumper_pointcloud /odom /parameter_events /particle_cloud /particlecloud /plan /planner_server/transition_event /received_global_plan /recoveries_server/transition_event /robot_description /rosout /scan /tf /tf_static /transformed_global_plan /waypoint_follower/transition_event /waypoints ```

[ruffsl]

@mikaelarguedas , I've updated the build to install nav2 from foxy release packages, and install slam_toolbox in place of cartographer. Then I auto generated the sros2 policy from running nav2 and slam_toolbox in unsecured mode using the sros generate policy CLI. I then cleaned up the policy using xinclude macros and action tags. The demo doesn't launch just yet, as I think the transform_listener_impl_*** node seem to append a UUID number to it's unique node name, but at least it doesn't seem to have reported using any private/relative namespaces that would change.

Perhaps you'd like to take a look at and catch if I've missed anything thus far.

[mikaelarguedas]

Nice!

I needed https://github.com/ros-swg/turtlebot3_demo/pull/34/commits/1d76c2a951ffd68667496a51fad7395670754f78 to be able to compile the dockerfile as some of the dependencies have been recently released and were not in the rosdep cache of the official foxy image

https://github.com/ros-swg/turtlebot3_demo/pull/34/commits/5d624aafff00065a8b787f30097b90493ae66b23 allowed me to resolve most of the permission issues preventing from launching the demo. The remaining issues being addressed in https://github.com/ros-swg/turtlebot3_demo/pull/34/commits/1b8329beb492f62db2acbc5af857539d8d87dd35

However I'm haven't been able to build a map with either the secure or unsecure configuration. It seems that no map or map transforms are published. Are there additional steps needed with slam toolbox that were not necessary with cartographer ?

[ruffsl]

However I'm haven't been able to build a map with either the secure or unsecure configuration.

I've been able to build and save maps with the unsecure configuration on my workstation. Are you running into dropped lifecycle messages, as I still can't get even the nav2 with pre-loaded map started with the secure configuration, just gazebo with a blank rviz panel. I might try a different rmw other than fast-rtps to see if its still the blocker.

Are there additional steps needed with slam toolbox that were not necessary with cartographer ?

See my recent commits that update the map server cli snippet.

• https://navigation.ros.org/migration/Eloquent.html?highlight=foxy#map-server-re-work
• https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html?highlight=save#working-with-slam
• https://navigation.ros.org/configuration/packages/configuring-map-server.html?highlight=save

[ruffsl]

It seems even adding a unrestricted privileges to the default enclave results in the same inoperable behavior:

  <enclaves>
    <enclave path="/">
      <profiles>
        <profile node="admin" ns="/">
          <services reply="ALLOW" request="ALLOW">
            <service>*</service>
          </services>
          <topics publish="ALLOW" subscribe="ALLOW">
            <topic>*</topic>
          </topics>
        </profile>
...

[ruffsl]

@mikaelarguedas I gave it a try using DDS security with RTI connext, but ran into some other QoS issues, like so

MIGGenerator_addData:serialize buffer too small

• https://community.rti.com/kb/what-causes-miggeneratoradddataserialize-buffer-too-small-error-message
• https://community.rti.com/kb/what-maximum-message-size-supported-rti-connext-4x-and-above

So I added a custom QoS profile with logging, but I'm still not sure why nav2 stack fails to start. The DDS log reveal little:

root@85fad59a6ce1:/opt/ros# grep error /tmp/log.xml 
[1595562113.215598] [CREATE Participant]RTI_Security_CertHelper_verifyCert:X509_verify_cert returned 0 with error 20: unable to get local issuer certificate
[1595562113.432589] [CREATE Participant]RTI_Security_CertHelper_verifyCert:X509_verify_cert returned 0 with error 20: unable to get local issuer certificate

``` ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True root@85fad59a6ce1:/opt/ros# ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True [INFO] [launch]: All log files can be found below /root/.ros/log/2020-07-23-20-41-52-588964-85fad59a6ce1-368 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [446] [INFO] [robot_state_publisher-2]: process started with pid [448] [INFO] [rviz2-3]: process started with pid [450] [INFO] [map_server-4]: process started with pid [452] [INFO] [amcl-5]: process started with pid [454] [INFO] [lifecycle_manager-6]: process started with pid [456] [INFO] [controller_server-7]: process started with pid [458] [INFO] [planner_server-8]: process started with pid [460] [INFO] [recoveries_server-9]: process started with pid [462] [INFO] [bt_navigator-10]: process started with pid [464] [INFO] [waypoint_follower-11]: process started with pid [466] [INFO] [lifecycle_manager-12]: process started with pid [468] [robot_state_publisher-2] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [robot_state_publisher-2] [INFO] [1595562113.134420357] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [amcl-5] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [amcl-5] [INFO] [1595562113.149150367] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-6] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-6] [INFO] [1595562113.151195098] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [planner_server-8] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [planner_server-8] [INFO] [1595562113.153245105] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-7] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [waypoint_follower-11] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [bt_navigator-10] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [waypoint_follower-11] [INFO] [1595562113.156756356] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [bt_navigator-10] [INFO] [1595562113.156808900] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-7] [INFO] [1595562113.156877362] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-12] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-12] [INFO] [1595562113.158099408] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-9] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [map_server-4] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [recoveries_server-9] [INFO] [1595562113.163381304] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [map_server-4] [INFO] [1595562113.164302651] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [rviz2-3] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [rviz2-3] [INFO] [1595562113.189497828] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [robot_state_publisher-2] [WARN] [1595562113.263719429] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-2] Parsing robot urdf xml string. [robot_state_publisher-2] Link base_link had 7 children [robot_state_publisher-2] Link camera_link had 2 children [robot_state_publisher-2] Link camera_depth_frame had 1 children [robot_state_publisher-2] Link camera_depth_optical_frame had 0 children [robot_state_publisher-2] Link camera_rgb_frame had 1 children [robot_state_publisher-2] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-2] Link caster_back_left_link had 0 children [robot_state_publisher-2] Link caster_back_right_link had 0 children [robot_state_publisher-2] Link imu_link had 0 children [robot_state_publisher-2] Link base_scan had 0 children [robot_state_publisher-2] Link wheel_left_link had 0 children [robot_state_publisher-2] Link wheel_right_link had 0 children [robot_state_publisher-2] [INFO] [1595562113.294546771] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-2] [INFO] [1595562113.294605824] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1595562113.294627399] [robot_state_publisher]: got segment base_scan [robot_state_publisher-2] [INFO] [1595562113.294644601] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-2] [INFO] [1595562113.294696315] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-2] [INFO] [1595562113.294740703] [robot_state_publisher]: got segment camera_link [robot_state_publisher-2] [INFO] [1595562113.294760193] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-2] [INFO] [1595562113.294777546] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-2] [INFO] [1595562113.294799440] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-2] [INFO] [1595562113.294817456] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-2] [INFO] [1595562113.294860111] [robot_state_publisher]: got segment imu_link [robot_state_publisher-2] [INFO] [1595562113.294901416] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-2] [INFO] [1595562113.294929191] [robot_state_publisher]: got segment wheel_right_link [lifecycle_manager-6] [INFO] [1595562113.295127926] [lifecycle_manager_localization]: Creating [lifecycle_manager-12] [INFO] [1595562113.303575040] [lifecycle_manager_navigation]: Creating [rviz2-3] [rviz2-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [rviz2-3] This error state is being overwritten: [rviz2-3] [rviz2-3] 'failed to create participant, at /tmp/binarydeb/ros-foxy-rmw-connext-shared-cpp-1.0.1/src/node.cpp:285, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:273' [rviz2-3] [rviz2-3] with this new error message: [rviz2-3] [rviz2-3] 'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425' [rviz2-3] [rviz2-3] rcutils_reset_error() should be called after error handling to avoid this. [rviz2-3] <<< [rviz2-3] [ERROR] [1595562113.317381855] [rcl]: Failed to fini publisher for node: 1 [rviz2-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [rviz2-3] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425 [bt_navigator-10] [INFO] [1595562113.331808370] [bt_navigator]: [bt_navigator-10] bt_navigator lifecycle node launched. [bt_navigator-10] Waiting on external lifecycle transitions to activate [bt_navigator-10] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-10] [INFO] [1595562113.331937177] [bt_navigator]: Creating [waypoint_follower-11] [INFO] [1595562113.338772648] [waypoint_follower]: [waypoint_follower-11] waypoint_follower lifecycle node launched. [waypoint_follower-11] Waiting on external lifecycle transitions to activate [waypoint_follower-11] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-11] [INFO] [1595562113.338909103] [waypoint_follower]: Creating [map_server-4] [INFO] [1595562113.355771787] [map_server]: [map_server-4] map_server lifecycle node launched. [map_server-4] Waiting on external lifecycle transitions to activate [map_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [map_server-4] [INFO] [1595562113.356467421] [map_server]: Creating [gzserver-1] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [gzserver-1] [INFO] [1595562113.400946649] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [ERROR] [rviz2-3]: process has died [pid 450, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2']. [INFO] [lifecycle_manager-12]: sending signal 'SIGINT' to process[lifecycle_manager-12] [INFO] [waypoint_follower-11]: sending signal 'SIGINT' to process[waypoint_follower-11] [INFO] [bt_navigator-10]: sending signal 'SIGINT' to process[bt_navigator-10] [INFO] [recoveries_server-9]: sending signal 'SIGINT' to process[recoveries_server-9] [INFO] [planner_server-8]: sending signal 'SIGINT' to process[planner_server-8] [INFO] [controller_server-7]: sending signal 'SIGINT' to process[controller_server-7] [INFO] [lifecycle_manager-6]: sending signal 'SIGINT' to process[lifecycle_manager-6] [INFO] [amcl-5]: sending signal 'SIGINT' to process[amcl-5] [INFO] [map_server-4]: sending signal 'SIGINT' to process[map_server-4] [INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2] [INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1] [lifecycle_manager-12] [INFO] [1595562113.432831735] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-11] [INFO] [1595562113.434995880] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-11] [INFO] [1595562113.436183872] [waypoint_follower]: Destroying [bt_navigator-10] [INFO] [1595562113.437249804] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-10] [INFO] [1595562113.438055916] [bt_navigator]: Destroying [recoveries_server-9] [INFO] [1595562113.439449838] [rclcpp]: signal_handler(signal_value=2) [planner_server-8] [INFO] [1595562113.441480346] [rclcpp]: signal_handler(signal_value=2) [controller_server-7] [INFO] [1595562113.443876753] [rclcpp]: signal_handler(signal_value=2) [planner_server-8] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [planner_server-8] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [lifecycle_manager-6] [INFO] [1595562113.446094621] [rclcpp]: signal_handler(signal_value=2) [amcl-5] [INFO] [1595562113.448451996] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-6] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [amcl-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [amcl-5] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [lifecycle_manager-12] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-12] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [map_server-4] [INFO] [1595562113.451431221] [rclcpp]: signal_handler(signal_value=2) [map_server-4] [INFO] [1595562113.452155799] [map_server]: Destroying [controller_server-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [controller_server-7] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [robot_state_publisher-2] [INFO] [1595562113.458598534] [rclcpp]: signal_handler(signal_value=2) [gzserver-1] [INFO] [1595562113.461721113] [rclcpp]: signal_handler(signal_value=2) [recoveries_server-9] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [recoveries_server-9] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [gzserver-1] [gzserver-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [gzserver-1] This error state is being overwritten: [gzserver-1] [gzserver-1] 'failed to create participant, at /tmp/binarydeb/ros-foxy-rmw-connext-shared-cpp-1.0.1/src/node.cpp:285, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:273' [gzserver-1] [gzserver-1] with this new error message: [gzserver-1] [gzserver-1] 'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425' [gzserver-1] [gzserver-1] rcutils_reset_error() should be called after error handling to avoid this. [gzserver-1] <<< [gzserver-1] [ERROR] [1595562113.535281607] [rcl]: Failed to fini publisher for node: 1 [gzserver-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [gzserver-1] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425 [ERROR] [planner_server-8]: process has died [pid 460, exit code -6, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmp94ekfh3f -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [amcl-5]: process has died [pid 454, exit code -6, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmpcndaepwa -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [lifecycle_manager-6]: process has died [pid 456, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_localization --params-file /tmp/launch_params_l068im88 --params-file /tmp/launch_params_z_o9fi1w --params-file /tmp/launch_params_jp0wev7i']. [ERROR] [controller_server-7]: process has died [pid 458, exit code -6, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpc8t81cmm -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [recoveries_server-9]: process has died [pid 462, exit code -6, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmppkokeke6 -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [lifecycle_manager-12]: process has died [pid 468, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_3382vp35 --params-file /tmp/launch_params_k297d_gy --params-file /tmp/launch_params_rf7m_zp9']. [ERROR] [gzserver-1]: process has died [pid 446, exit code -6, cmd 'gzserver -s libgazebo_ros_init.so /opt/ros/foxy/share/nav2_bringup/worlds/waffle.model']. [waypoint_follower-11] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-11] Expires on 17-oct-2020 See www.rti.com for more information. [waypoint_follower-11] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-11] Expires on 17-oct-2020 See www.rti.com for more information. [bt_navigator-10] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-10] Expires on 17-oct-2020 See www.rti.com for more information. [bt_navigator-10] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-10] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [waypoint_follower-11]: process has finished cleanly [pid 466] [INFO] [bt_navigator-10]: process has finished cleanly [pid 464] [map_server-4] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-4] Expires on 17-oct-2020 See www.rti.com for more information. [map_server-4] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-4] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [map_server-4]: process has finished cleanly [pid 452] [robot_state_publisher-2] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-2] Expires on 17-oct-2020 See www.rti.com for more information. [robot_state_publisher-2] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-2] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 448] root@85fad59a6ce1:/opt/ros# clear root@85fad59a6ce1:/opt/ros# clear root@85fad59a6ce1:/opt/ros# ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True [INFO] [launch]: All log files can be found below /root/.ros/log/2020-07-23-20-48-18-100847-85fad59a6ce1-7518 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [7546] [INFO] [robot_state_publisher-2]: process started with pid [7548] [INFO] [rviz2-3]: process started with pid [7550] [INFO] [map_server-4]: process started with pid [7552] [INFO] [amcl-5]: process started with pid [7554] [INFO] [lifecycle_manager-6]: process started with pid [7556] [INFO] [controller_server-7]: process started with pid [7558] [INFO] [planner_server-8]: process started with pid [7560] [INFO] [recoveries_server-9]: process started with pid [7562] [INFO] [bt_navigator-10]: process started with pid [7564] [INFO] [waypoint_follower-11]: process started with pid [7566] [INFO] [lifecycle_manager-12]: process started with pid [7568] [robot_state_publisher-2] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [robot_state_publisher-2] [INFO] [1595562498.582542312] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-6] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-6] [INFO] [1595562498.582747868] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [waypoint_follower-11] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [planner_server-8] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [map_server-4] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [waypoint_follower-11] [INFO] [1595562498.594867055] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [map_server-4] [INFO] [1595562498.595769387] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [amcl-5] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [planner_server-8] [INFO] [1595562498.596111569] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [amcl-5] [INFO] [1595562498.597147960] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-7] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [controller_server-7] [INFO] [1595562498.599391157] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-9] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-12] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-12] [INFO] [1595562498.600537665] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-9] [INFO] [1595562498.601491382] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [bt_navigator-10] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [bt_navigator-10] [INFO] [1595562498.604236634] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [rviz2-3] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [rviz2-3] [INFO] [1595562498.635995095] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-6] [INFO] [1595562498.721662702] [lifecycle_manager_localization]: Creating [robot_state_publisher-2] [WARN] [1595562498.727796957] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-2] Parsing robot urdf xml string. [robot_state_publisher-2] Link base_link had 7 children [robot_state_publisher-2] Link camera_link had 2 children [robot_state_publisher-2] Link camera_depth_frame had 1 children [robot_state_publisher-2] Link camera_depth_optical_frame had 0 children [robot_state_publisher-2] Link camera_rgb_frame had 1 children [robot_state_publisher-2] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-2] Link caster_back_left_link had 0 children [robot_state_publisher-2] Link caster_back_right_link had 0 children [robot_state_publisher-2] Link imu_link had 0 children [robot_state_publisher-2] Link base_scan had 0 children [robot_state_publisher-2] Link wheel_left_link had 0 children [robot_state_publisher-2] Link wheel_right_link had 0 children [robot_state_publisher-2] [INFO] [1595562498.747490518] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-2] [INFO] [1595562498.747575578] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1595562498.747619622] [robot_state_publisher]: got segment base_scan [robot_state_publisher-2] [INFO] [1595562498.747653816] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-2] [INFO] [1595562498.747742750] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-2] [INFO] [1595562498.747798470] [robot_state_publisher]: got segment camera_link [robot_state_publisher-2] [INFO] [1595562498.747839374] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-2] [INFO] [1595562498.747877509] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-2] [INFO] [1595562498.747914958] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-2] [INFO] [1595562498.747957106] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-2] [INFO] [1595562498.748039628] [robot_state_publisher]: got segment imu_link [robot_state_publisher-2] [INFO] [1595562498.748087043] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-2] [INFO] [1595562498.748133090] [robot_state_publisher]: got segment wheel_right_link [lifecycle_manager-12] [INFO] [1595562498.754142548] [lifecycle_manager_navigation]: Creating [rviz2-3] [rviz2-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [rviz2-3] This error state is being overwritten: [rviz2-3] [rviz2-3] 'failed to create participant, at /tmp/binarydeb/ros-foxy-rmw-connext-shared-cpp-1.0.1/src/node.cpp:285, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:273' [rviz2-3] [rviz2-3] with this new error message: [rviz2-3] [rviz2-3] 'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425' [rviz2-3] [rviz2-3] rcutils_reset_error() should be called after error handling to avoid this. [rviz2-3] <<< [rviz2-3] [ERROR] [1595562498.765214198] [rcl]: Failed to fini publisher for node: 1 [rviz2-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [rviz2-3] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425 [waypoint_follower-11] [INFO] [1595562498.777983713] [waypoint_follower]: [waypoint_follower-11] waypoint_follower lifecycle node launched. [waypoint_follower-11] Waiting on external lifecycle transitions to activate [waypoint_follower-11] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-11] [INFO] [1595562498.778137065] [waypoint_follower]: Creating [bt_navigator-10] [INFO] [1595562498.783301255] [bt_navigator]: [bt_navigator-10] bt_navigator lifecycle node launched. [bt_navigator-10] Waiting on external lifecycle transitions to activate [bt_navigator-10] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-10] [INFO] [1595562498.783433178] [bt_navigator]: Creating [map_server-4] [INFO] [1595562498.793753236] [map_server]: [map_server-4] map_server lifecycle node launched. [map_server-4] Waiting on external lifecycle transitions to activate [map_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [map_server-4] [INFO] [1595562498.793926991] [map_server]: Creating [gzserver-1] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [gzserver-1] [INFO] [1595562498.798326889] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [ERROR] [rviz2-3]: process has died [pid 7550, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2']. [INFO] [lifecycle_manager-12]: sending signal 'SIGINT' to process[lifecycle_manager-12] [INFO] [waypoint_follower-11]: sending signal 'SIGINT' to process[waypoint_follower-11] [INFO] [bt_navigator-10]: sending signal 'SIGINT' to process[bt_navigator-10] [INFO] [recoveries_server-9]: sending signal 'SIGINT' to process[recoveries_server-9] [INFO] [planner_server-8]: sending signal 'SIGINT' to process[planner_server-8] [INFO] [controller_server-7]: sending signal 'SIGINT' to process[controller_server-7] [INFO] [lifecycle_manager-6]: sending signal 'SIGINT' to process[lifecycle_manager-6] [INFO] [amcl-5]: sending signal 'SIGINT' to process[amcl-5] [INFO] [map_server-4]: sending signal 'SIGINT' to process[map_server-4] [INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2] [INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1] [lifecycle_manager-12] [INFO] [1595562498.890122495] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-11] [INFO] [1595562498.892660741] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-10] [INFO] [1595562498.895168779] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-10] [INFO] [1595562498.896538310] [bt_navigator]: Destroying [waypoint_follower-11] [INFO] [1595562498.896812105] [waypoint_follower]: Destroying [recoveries_server-9] [INFO] [1595562498.898247810] [rclcpp]: signal_handler(signal_value=2) [planner_server-8] [INFO] [1595562498.900980576] [rclcpp]: signal_handler(signal_value=2) [controller_server-7] [INFO] [1595562498.903670102] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-6] [INFO] [1595562498.906046683] [rclcpp]: signal_handler(signal_value=2) [recoveries_server-9] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [recoveries_server-9] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [amcl-5] [INFO] [1595562498.908771412] [rclcpp]: signal_handler(signal_value=2) [map_server-4] [INFO] [1595562498.911708464] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-6] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [map_server-4] [INFO] [1595562498.912649616] [map_server]: Destroying [robot_state_publisher-2] [INFO] [1595562498.914476266] [rclcpp]: signal_handler(signal_value=2) [planner_server-8] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [planner_server-8] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [gzserver-1] [INFO] [1595562498.917048696] [rclcpp]: signal_handler(signal_value=2) [amcl-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [amcl-5] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [controller_server-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [controller_server-7] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [gzserver-1] [gzserver-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [gzserver-1] This error state is being overwritten: [gzserver-1] [gzserver-1] 'failed to create participant, at /tmp/binarydeb/ros-foxy-rmw-connext-shared-cpp-1.0.1/src/node.cpp:285, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:273' [gzserver-1] [gzserver-1] with this new error message: [gzserver-1] [gzserver-1] 'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425' [gzserver-1] [gzserver-1] rcutils_reset_error() should be called after error handling to avoid this. [gzserver-1] <<< [gzserver-1] [ERROR] [1595562498.931600008] [rcl]: Failed to fini publisher for node: 1 [gzserver-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [gzserver-1] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425 [ERROR] [lifecycle_manager-6]: process has died [pid 7556, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_localization --params-file /tmp/launch_params_yaw1rlz5 --params-file /tmp/launch_params_t6ds0c57 --params-file /tmp/launch_params_ak94cnx8']. [ERROR] [recoveries_server-9]: process has died [pid 7562, exit code -6, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmpsngx852r -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [gzserver-1]: process has died [pid 7546, exit code -6, cmd 'gzserver -s libgazebo_ros_init.so /opt/ros/foxy/share/nav2_bringup/worlds/waffle.model']. [ERROR] [controller_server-7]: process has died [pid 7558, exit code -6, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmp2oy2ldys -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [planner_server-8]: process has died [pid 7560, exit code -6, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmpa73zelpy -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [amcl-5]: process has died [pid 7554, exit code -6, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmp351rv25u -r /tf:=tf -r /tf_static:=tf_static']. [lifecycle_manager-12] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-12] what(): failed to initialize rcl node: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/guard_condition.c:67 [bt_navigator-10] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-10] Expires on 17-oct-2020 See www.rti.com for more information. [bt_navigator-10] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-10] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [bt_navigator-10]: process has finished cleanly [pid 7564] [ERROR] [lifecycle_manager-12]: process has died [pid 7568, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_bzbsrfsm --params-file /tmp/launch_params_2mofl43r --params-file /tmp/launch_params_l2rknc_0']. [waypoint_follower-11] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-11] Expires on 17-oct-2020 See www.rti.com for more information. [waypoint_follower-11] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-11] Expires on 17-oct-2020 See www.rti.com for more information. [robot_state_publisher-2] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-2] Expires on 17-oct-2020 See www.rti.com for more information. [robot_state_publisher-2] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-2] Expires on 17-oct-2020 See www.rti.com for more information. [map_server-4] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-4] Expires on 17-oct-2020 See www.rti.com for more information. [map_server-4] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-4] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 7548] [INFO] [waypoint_follower-11]: process has finished cleanly [pid 7566] [INFO] [map_server-4]: process has finished cleanly [pid 7552] root@85fad59a6ce1:/opt/ros# clear root@85fad59a6ce1:/opt/ros# clear root@85fad59a6ce1:/opt/ros# ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True^C root@85fad59a6ce1:/opt/ros# clear root@85fad59a6ce1:/opt/ros# clear root@85fad59a6ce1:/opt/ros# ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True [INFO] [launch]: All log files can be found below /root/.ros/log/2020-07-23-20-53-17-785764-85fad59a6ce1-13105 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [13118] [INFO] [robot_state_publisher-2]: process started with pid [13121] [INFO] [rviz2-3]: process started with pid [13123] [INFO] [map_server-4]: process started with pid [13125] [INFO] [amcl-5]: process started with pid [13128] [INFO] [lifecycle_manager-6]: process started with pid [13130] [INFO] [controller_server-7]: process started with pid [13132] [INFO] [planner_server-8]: process started with pid [13134] [INFO] [recoveries_server-9]: process started with pid [13136] [INFO] [bt_navigator-10]: process started with pid [13139] [INFO] [waypoint_follower-11]: process started with pid [13141] [INFO] [lifecycle_manager-12]: process started with pid [13144] [robot_state_publisher-2] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [robot_state_publisher-2] [INFO] [1595562798.261666475] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-7] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [controller_server-7] [INFO] [1595562798.268746901] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-6] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-6] [INFO] [1595562798.269911705] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-9] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [amcl-5] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [amcl-5] [INFO] [1595562798.275867833] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-9] [INFO] [1595562798.275938118] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-12] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [planner_server-8] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [lifecycle_manager-12] [INFO] [1595562798.279505453] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [waypoint_follower-11] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [planner_server-8] [INFO] [1595562798.280690886] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [map_server-4] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [waypoint_follower-11] [INFO] [1595562798.280845350] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [map_server-4] [INFO] [1595562798.281634313] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [bt_navigator-10] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [bt_navigator-10] [INFO] [1595562798.287340487] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [rviz2-3] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [rviz2-3] [INFO] [1595562798.324146297] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [robot_state_publisher-2] [WARN] [1595562798.422142706] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [lifecycle_manager-12] [INFO] [1595562798.425913247] [lifecycle_manager_navigation]: Creating [lifecycle_manager-6] [INFO] [1595562798.446555532] [lifecycle_manager_localization]: Creating [robot_state_publisher-2] Parsing robot urdf xml string. [rviz2-3] [rviz2-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [rviz2-3] This error state is being overwritten: [rviz2-3] [rviz2-3] 'failed to create participant, at /tmp/binarydeb/ros-foxy-rmw-connext-shared-cpp-1.0.1/src/node.cpp:285, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:273' [rviz2-3] [rviz2-3] with this new error message: [rviz2-3] [rviz2-3] 'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425' [rviz2-3] [rviz2-3] rcutils_reset_error() should be called after error handling to avoid this. [rviz2-3] <<< [rviz2-3] [ERROR] [1595562798.450793542] [rcl]: Failed to fini publisher for node: 1 [rviz2-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [rviz2-3] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425 [robot_state_publisher-2] Link base_link had 7 children [robot_state_publisher-2] Link camera_link had 2 children [robot_state_publisher-2] Link camera_depth_frame had 1 children [robot_state_publisher-2] Link camera_depth_optical_frame had 0 children [robot_state_publisher-2] Link camera_rgb_frame had 1 children [robot_state_publisher-2] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-2] Link caster_back_left_link had 0 children [robot_state_publisher-2] Link caster_back_right_link had 0 children [robot_state_publisher-2] Link imu_link had 0 children [robot_state_publisher-2] Link base_scan had 0 children [robot_state_publisher-2] Link wheel_left_link had 0 children [robot_state_publisher-2] Link wheel_right_link had 0 children [robot_state_publisher-2] [INFO] [1595562798.451339629] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-2] [INFO] [1595562798.451422452] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1595562798.451471367] [robot_state_publisher]: got segment base_scan [robot_state_publisher-2] [INFO] [1595562798.451513145] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-2] [INFO] [1595562798.451697528] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-2] [INFO] [1595562798.451750773] [robot_state_publisher]: got segment camera_link [robot_state_publisher-2] [INFO] [1595562798.451799699] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-2] [INFO] [1595562798.451839832] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-2] [INFO] [1595562798.451910702] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-2] [INFO] [1595562798.452079528] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-2] [INFO] [1595562798.452167144] [robot_state_publisher]: got segment imu_link [robot_state_publisher-2] [INFO] [1595562798.452212021] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-2] [INFO] [1595562798.452248674] [robot_state_publisher]: got segment wheel_right_link [map_server-4] [INFO] [1595562798.465338286] [map_server]: [map_server-4] map_server lifecycle node launched. [map_server-4] Waiting on external lifecycle transitions to activate [map_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [map_server-4] [INFO] [1595562798.465454895] [map_server]: Creating [waypoint_follower-11] [INFO] [1595562798.475376221] [waypoint_follower]: [waypoint_follower-11] waypoint_follower lifecycle node launched. [waypoint_follower-11] Waiting on external lifecycle transitions to activate [waypoint_follower-11] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-11] [INFO] [1595562798.475525534] [waypoint_follower]: Creating [bt_navigator-10] [INFO] [1595562798.499704568] [bt_navigator]: [bt_navigator-10] bt_navigator lifecycle node launched. [bt_navigator-10] Waiting on external lifecycle transitions to activate [bt_navigator-10] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-10] [INFO] [1595562798.499843022] [bt_navigator]: Creating [gzserver-1] RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED is now ignored. Please set RCUTILS_LOGGING_USE_STDOUT and RCUTILS_LOGGING_BUFFERED_STREAM to control the stream and the buffering of log messages. [gzserver-1] [INFO] [1595562798.531650661] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [ERROR] [rviz2-3]: process has died [pid 13123, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2']. [INFO] [lifecycle_manager-12]: sending signal 'SIGINT' to process[lifecycle_manager-12] [INFO] [waypoint_follower-11]: sending signal 'SIGINT' to process[waypoint_follower-11] [INFO] [bt_navigator-10]: sending signal 'SIGINT' to process[bt_navigator-10] [INFO] [recoveries_server-9]: sending signal 'SIGINT' to process[recoveries_server-9] [INFO] [planner_server-8]: sending signal 'SIGINT' to process[planner_server-8] [INFO] [controller_server-7]: sending signal 'SIGINT' to process[controller_server-7] [INFO] [lifecycle_manager-6]: sending signal 'SIGINT' to process[lifecycle_manager-6] [INFO] [amcl-5]: sending signal 'SIGINT' to process[amcl-5] [INFO] [map_server-4]: sending signal 'SIGINT' to process[map_server-4] [INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2] [INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1] [lifecycle_manager-12] [INFO] [1595562798.566742108] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-11] [INFO] [1595562798.569624967] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-11] [INFO] [1595562798.570838934] [waypoint_follower]: Destroying [bt_navigator-10] [INFO] [1595562798.572213883] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-10] [INFO] [1595562798.573341897] [bt_navigator]: Destroying [lifecycle_manager-12] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-12] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [recoveries_server-9] [INFO] [1595562798.575008203] [rclcpp]: signal_handler(signal_value=2) [amcl-5] [INFO] [1595562798.576943695] [amcl]: [amcl-5] amcl lifecycle node launched. [amcl-5] Waiting on external lifecycle transitions to activate [amcl-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [amcl-5] [INFO] [1595562798.577107257] [amcl]: Creating [planner_server-8] [INFO] [1595562798.577644984] [rclcpp]: signal_handler(signal_value=2) [recoveries_server-9] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [recoveries_server-9] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [controller_server-7] [INFO] [1595562798.580404190] [rclcpp]: signal_handler(signal_value=2) [planner_server-8] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [planner_server-8] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [lifecycle_manager-6] [INFO] [1595562798.582974864] [rclcpp]: signal_handler(signal_value=2) [controller_server-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [controller_server-7] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [lifecycle_manager-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-6] what(): could not create service: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:438 [amcl-5] [INFO] [1595562798.585900546] [rclcpp]: signal_handler(signal_value=2) [amcl-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [amcl-5] what(): Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/guard_condition.c:67 [map_server-4] [INFO] [1595562798.588547253] [rclcpp]: signal_handler(signal_value=2) [map_server-4] [INFO] [1595562798.589362163] [map_server]: Destroying [robot_state_publisher-2] [INFO] [1595562798.591316597] [rclcpp]: signal_handler(signal_value=2) [gzserver-1] [INFO] [1595562798.593965877] [rclcpp]: signal_handler(signal_value=2) [gzserver-1] [gzserver-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [gzserver-1] This error state is being overwritten: [gzserver-1] [gzserver-1] 'failed to create participant, at /tmp/binarydeb/ros-foxy-rmw-connext-shared-cpp-1.0.1/src/node.cpp:285, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:273' [gzserver-1] [gzserver-1] with this new error message: [gzserver-1] [gzserver-1] 'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425' [gzserver-1] [gzserver-1] rcutils_reset_error() should be called after error handling to avoid this. [gzserver-1] <<< [gzserver-1] [ERROR] [1595562798.669273450] [rcl]: Failed to fini publisher for node: 1 [gzserver-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [gzserver-1] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.5/src/rcl/node.c:425 [ERROR] [controller_server-7]: process has died [pid 13132, exit code -6, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpv4n5k1hf -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [recoveries_server-9]: process has died [pid 13136, exit code -6, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmp9ebbar9z -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [lifecycle_manager-6]: process has died [pid 13130, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_localization --params-file /tmp/launch_params_g14q7t9d --params-file /tmp/launch_params_pj561eao --params-file /tmp/launch_params_p1gz9yo2']. [ERROR] [amcl-5]: process has died [pid 13128, exit code -6, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmpexnap59a -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [lifecycle_manager-12]: process has died [pid 13144, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_jmjwquir --params-file /tmp/launch_params_aytr3hig --params-file /tmp/launch_params__b2o0r8j']. [ERROR] [planner_server-8]: process has died [pid 13134, exit code -6, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmpfr7387cj -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [gzserver-1]: process has died [pid 13118, exit code -6, cmd 'gzserver -s libgazebo_ros_init.so /opt/ros/foxy/share/nav2_bringup/worlds/waffle.model']. [robot_state_publisher-2] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-2] Expires on 17-oct-2020 See www.rti.com for more information. [robot_state_publisher-2] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-2] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [robot_state_publisher-2]: process has finished cleanly [pid 13121] [map_server-4] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-4] Expires on 17-oct-2020 See www.rti.com for more information. [map_server-4] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-4] Expires on 17-oct-2020 See www.rti.com for more information. [waypoint_follower-11] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-11] Expires on 17-oct-2020 See www.rti.com for more information. [waypoint_follower-11] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-11] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [map_server-4]: process has finished cleanly [pid 13125] [INFO] [waypoint_follower-11]: process has finished cleanly [pid 13141] [bt_navigator-10] RTI Data Distribution Service Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-10] Expires on 17-oct-2020 See www.rti.com for more information. [bt_navigator-10] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-10] Expires on 17-oct-2020 See www.rti.com for more information. [INFO] [bt_navigator-10]: process has finished cleanly [pid 13139] ```

[ruffsl]

Wow... After thinking about why the MIGGenerator_addData:serialize buffer too small error was originating from just the security channel write event:

[planner_server-8] MIGGenerator_addData:serialize buffer too small
[planner_server-8] COMMENDAnonWriterService_write:!add DATA to MIG
[planner_server-8] PRESPsWriter_writeCommend:!anonw->write
[planner_server-8] PRESPsWriter_writeInternal:!failed to write sample in Commend
[planner_server-8] PRESParticipant_onSecurityChannelWriteEvent:!security channel write dds.sec.auth message

it recently dawned on me that the lengthy DDS permissions.xml file generated from the combined single default context was perhaps exceeding the max UDP packet size, and given security handshake for exchanging permissions is over a builtin topic. Per the rti docs above:

The builtin topic writers, however, do not fragment the builtin topic information. If large type-code information needs to be sent, it is essential to increase the transport-buffer settings to be larger than the maximum serialized typecode size. This increased size needs to be applied to all the transports you will use (i.e., UDPv4, UDPv6 and Shared Memory).

This issue probably didn't exhibit before foxy, as the size of a permissions file was relatively much smaller given the one-to-one node profile to dds permissions mapping. Thus signed permission.p7s files never encroached the ~64KB UDP limit.

As a comparison, here are two examples where only the admin profiles, like in https://github.com/ros-swg/turtlebot3_demo/pull/34#issuecomment-663283358 is used in the default enclave, vs that currently committed that includes profiles for each node in the one default enclave.

Only Admin Profile

root@29d9ef66b542:/opt/ros# ls -alh keystore/enclaves/
total 42K
drwxr-xr-x 2 root root   10 Jul 24 13:47 .
drwxr-xr-x 5 root root    5 Jul 24 13:47 ..
-rw-r--r-- 1 root root  473 Jul 24 13:47 cert.pem
-rw-r--r-- 1 root root 2.9K Jul 24 13:47 governance.p7s
-rw-r--r-- 1 root root 1.4K Jul 24 13:47 governance.xml
lrwxrwxrwx 1 root root   30 Jul 24 13:47 identity_ca.cert.pem -> ../public/identity_ca.cert.pem
-rw-r--r-- 1 root root  241 Jul 24 13:47 key.pem
-rw-r--r-- 1 root root 2.8K Jul 24 13:47 permissions.p7s
-rw-r--r-- 1 root root 1.3K Jul 24 13:47 permissions.xml
lrwxrwxrwx 1 root root   33 Jul 24 13:47 permissions_ca.cert.pem -> ../public/permissions_ca.cert.pem

All Node Profiles

root@039b0a878ba0:/opt/ros# ls -alh keystore/enclaves/
total 58K
drwxr-xr-x 2 root root   10 Jul 24 21:10 .
drwxr-xr-x 5 root root    5 Jul 24 21:10 ..
-rw-r--r-- 1 root root  473 Jul 24 21:10 cert.pem
-rw-r--r-- 1 root root 2.9K Jul 24 21:10 governance.p7s
-rw-r--r-- 1 root root 1.4K Jul 24 21:10 governance.xml
lrwxrwxrwx 1 root root   30 Jul 24 21:10 identity_ca.cert.pem -> ../public/identity_ca.cert.pem
-rw-r--r-- 1 root root  241 Jul 24 21:10 key.pem
-rw-r--r-- 1 root root  96K Jul 24 21:10 permissions.p7s
-rw-r--r-- 1 root root  93K Jul 24 21:10 permissions.xml
lrwxrwxrwx 1 root root   33 Jul 24 21:10 permissions_ca.cert.pem -> ../public/permissions_ca.cert.pem

I am not sure if FastRTPS can fragmente the permissions.xml file for security channel write event during the Secure DDS handshake, but if it doesn't and is silently failing instead, this may explain why nav2 fails to start with the current security setup.

[ruffsl]

After switching between the two enclaves above with Connext and FastRTPS, here's what I'm seeing:

Only Admin Profile

• Connext: Not working
  • Unknown: perhaps insificent QoS or DDS spec limit being exceeded given number of nav2 nodes
• FastRTPS: Sort of working
  • Except for setting location and goal in rviz; configs scripts doing the same thing do work

All Node Profiles

• Connext: Not working
  • Expected: builtin topic writers do not fragment large permission payload during handshake
• FastRTPS: Not working
  • Unknown: most likely for the same reason as connext, but prints out no warnings about it

[mikaelarguedas]

Exploring the idea of reducing permissions file size by simplifying the rules of a participant by using wildcard:

• Simplifying actions: allow a participant to publish to all topic and services of the actions it declares: permissions file size 96k -> 91k
  Changes to permissions template

diff --git a/sros2/sros2/policy/templates/dds/permissions.xsl b/sros2/sros2/policy/templates/dds/permissions.xsl
index e99f535..d5951f1 100644
--- a/sros2/sros2/policy/templates/dds/permissions.xsl
+++ b/sros2/sros2/policy/templates/dds/permissions.xsl
@@ -194,9 +194,7 @@
         <xsl:variable name="fqn">
           <xsl:apply-templates select="."/>
         </xsl:variable>
-        <topic>rq<xsl:value-of select="$fqn"/>/_action/cancel_goalRequest</topic>
-        <topic>rq<xsl:value-of select="$fqn"/>/_action/get_resultRequest</topic>
-        <topic>rq<xsl:value-of select="$fqn"/>/_action/send_goalRequest</topic>
+        <topic>rq<xsl:value-of select="$fqn"/>/_action/*</topic>
       </xsl:for-each>
     </topics>
   </publish>
@@ -206,11 +204,8 @@
         <xsl:variable name="fqn">
           <xsl:apply-templates select="."/>
         </xsl:variable>
-        <topic>rr<xsl:value-of select="$fqn"/>/_action/cancel_goalReply</topic>
-        <topic>rr<xsl:value-of select="$fqn"/>/_action/get_resultReply</topic>
-        <topic>rr<xsl:value-of select="$fqn"/>/_action/send_goalReply</topic>
-        <topic>rt<xsl:value-of select="$fqn"/>/_action/feedback</topic>
-        <topic>rt<xsl:value-of select="$fqn"/>/_action/status</topic>
+        <topic>rr<xsl:value-of select="$fqn"/>/_action/*</topic>
+        <topic>rt<xsl:value-of select="$fqn"/>/_action/*</topic>
       </xsl:for-each>
     </topics>
   </subscribe>
@@ -223,11 +218,8 @@
         <xsl:variable name="fqn">
           <xsl:apply-templates select="."/>
         </xsl:variable>
-        <topic>rr<xsl:value-of select="$fqn"/>/_action/cancel_goalReply</topic>
-        <topic>rr<xsl:value-of select="$fqn"/>/_action/get_resultReply</topic>
-        <topic>rr<xsl:value-of select="$fqn"/>/_action/send_goalReply</topic>
-        <topic>rt<xsl:value-of select="$fqn"/>/_action/feedback</topic>
-        <topic>rt<xsl:value-of select="$fqn"/>/_action/status</topic>
+        <topic>rr<xsl:value-of select="$fqn"/>/_action/*</topic>
+        <topic>rt<xsl:value-of select="$fqn"/>/_action/*</topic>
       </xsl:for-each>
     </topics>
   </publish>
@@ -237,9 +229,7 @@
         <xsl:variable name="fqn">
           <xsl:apply-templates select="."/>
         </xsl:variable>
-        <topic>rq<xsl:value-of select="$fqn"/>/_action/cancel_goalRequest</topic>
-        <topic>rq<xsl:value-of select="$fqn"/>/_action/get_resultRequest</topic>
-        <topic>rq<xsl:value-of select="$fqn"/>/_action/send_goalRequest</topic>
+        <topic>rq<xsl:value-of select="$fqn"/>/_action/*</topic>
       </xsl:for-each>
     </topics>
   </subscribe>

• A node can access all topics and services under its own private namespace: permissions file size 91k -> 33k

Changes to "common" node permissions

```diff diff --git a/policies/common/lifecycle_node.xml b/policies/common/lifecycle_node.xml index 6dbe1c0..4ee6dd2 100644 --- a/policies/common/lifecycle_node.xml +++ b/policies/common/lifecycle_node.xml @@ -3,14 +3,4 @@ - - ~/change_state - ~/get_available_states - ~/get_available_transitions - ~/get_state - ~/get_transition_graph - - - ~/transition_event - diff --git a/policies/common/node.xml b/policies/common/node.xml index c39e117..8e02eaf 100644 --- a/policies/common/node.xml +++ b/policies/common/node.xml @@ -1,5 +1,11 @@ + + ~/* + + + ~/* + parameter_events - - - ~/describe_parameters - ~/get_parameter_types - ~/get_parameters - ~/list_parameters - ~/set_parameters - ~/set_parameters_atomically - ```

[ruffsl]

Looks like there are now a number of nodes with duplicate names :<

FYI, here is a relevant ticket touching on the large number of nodes in nav2: https://github.com/ros-planning/navigation2/issues/816

[ruffsl]

@mikaelarguedas , touching back on this; today I rebuilt the docker image using the latest ros:foxy image and change the policy to only use <profile node="admin" ns="/"> for debugging, but encounter the classic error message about fastrtps not being built with security:

# ros2 run turtlebot3_teleop teleop_keyboard
[INFO] [1614032513.627008872] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'This Fast-RTPS version doesn't have the security libraries
Please compile Fast-RTPS using the -DSECURITY=ON CMake option, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-shared-cpp-1.2.4/src/participant.cpp:248, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/node.c:276'

with this new error message:

  'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/node.c:428'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1614032513.643556666] [rcl]: Failed to fini publisher for node: 1
Traceback (most recent call last):
  File "/opt/ros/overlay_ws/install/turtlebot3_teleop/lib/turtlebot3_teleop/teleop_keyboard", line 11, in <module>
    load_entry_point('turtlebot3-teleop', 'console_scripts', 'teleop_keyboard')()
  File "/opt/ros/overlay_ws/build/turtlebot3_teleop/turtlebot3_teleop/script/teleop_keyboard.py", line 131, in main
    node = rclpy.create_node('teleop_keyboard')
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/__init__.py", line 141, in create_node
    return Node(
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 164, in __init__
    self.__handle = Handle(_rclpy.rclpy_create_node(
_rclpy.RCLError: Unknown error creating node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/node.c:428

Did FastRTPS get re-released into Foxy without building with -DSECURITY=ON ?! :scream:

[ruffsl]

With 66a44ec62e1bee353eeec0824dec4b8944f76ea2 I've added option to use rmw_connextdds, but it seems to crash when launching something larger like the navigation stack. So far, no rmw implementation is working with security, even when relaxing the permissions with d46b623aa1039b90793b736f71d8a8d1c2ce60f5 .

rmw_connextdds w/o security

``` root@54dc1145d895:/opt/ros# ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False [INFO] [launch]: All log files can be found below /root/.ros/log/2021-03-02-15-02-55-299286-54dc1145d895-1362 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [1390] [INFO] [rviz2-2]: process started with pid [1392] [INFO] [map_server-3]: process started with pid [1394] [INFO] [amcl-4]: process started with pid [1396] [INFO] [lifecycle_manager-5]: process started with pid [1398] [INFO] [controller_server-6]: process started with pid [1400] [INFO] [planner_server-7]: process started with pid [1402] [INFO] [recoveries_server-8]: process started with pid [1404] [INFO] [bt_navigator-9]: process started with pid [1406] [INFO] [waypoint_follower-10]: process started with pid [1408] [INFO] [lifecycle_manager-11]: process started with pid [1410] [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [lifecycle_manager-11] [INFO] [1614726175.970709265] [lifecycle_manager_navigation]: Creating [lifecycle_manager-5] [INFO] [1614726175.971579716] [lifecycle_manager_localization]: Creating [robot_state_publisher-1] [WARN] [1614726175.993934933] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 7 children [robot_state_publisher-1] Link camera_link had 2 children [robot_state_publisher-1] Link camera_rgb_frame had 1 children [robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-1] Link caster_back_left_link had 0 children [robot_state_publisher-1] Link caster_back_right_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] [INFO] [1614726176.015617530] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1614726176.015698101] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1614726176.015732190] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1614726176.015756311] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1614726176.015863168] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1614726176.015904781] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1614726176.015937667] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1614726176.015969349] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1614726176.015990623] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1] [INFO] [1614726176.016011843] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-1] [INFO] [1614726176.016075872] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1614726176.016114621] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1614726176.016135691] [robot_state_publisher]: got segment wheel_right_link [lifecycle_manager-11] [INFO] [1614726176.032992372] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [lifecycle_manager-5] [INFO] [1614726176.044174347] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [waypoint_follower-10] [INFO] [1614726176.045794256] [waypoint_follower]: [waypoint_follower-10] waypoint_follower lifecycle node launched. [waypoint_follower-10] Waiting on external lifecycle transitions to activate [waypoint_follower-10] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-10] [INFO] [1614726176.048871991] [waypoint_follower]: Creating [bt_navigator-9] [INFO] [1614726176.063910946] [bt_navigator]: [bt_navigator-9] bt_navigator lifecycle node launched. [bt_navigator-9] Waiting on external lifecycle transitions to activate [bt_navigator-9] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-9] [INFO] [1614726176.065210217] [bt_navigator]: Creating [amcl-4] [INFO] [1614726176.075069512] [amcl]: [amcl-4] amcl lifecycle node launched. [amcl-4] Waiting on external lifecycle transitions to activate [amcl-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [amcl-4] [INFO] [1614726176.076805786] [amcl]: Creating [recoveries_server-8] [INFO] [1614726176.078005671] [recoveries_server]: [recoveries_server-8] recoveries_server lifecycle node launched. [recoveries_server-8] Waiting on external lifecycle transitions to activate [recoveries_server-8] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-5] [INFO] [1614726176.080570718] [lifecycle_manager_localization]: Starting managed nodes bringup... [controller_server-6] [INFO] [1614726176.080862601] [controller_server]: [controller_server-6] controller_server lifecycle node launched. [controller_server-6] Waiting on external lifecycle transitions to activate [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-5] [INFO] [1614726176.084346718] [lifecycle_manager_localization]: Configuring map_server [lifecycle_manager-11] [INFO] [1614726176.085284146] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-11] [INFO] [1614726176.085598893] [lifecycle_manager_navigation]: Configuring controller_server [map_server-3] [INFO] [1614726176.087959523] [map_server]: [map_server-3] map_server lifecycle node launched. [map_server-3] Waiting on external lifecycle transitions to activate [map_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [map_server-3] [INFO] [1614726176.088266261] [map_server]: Creating [planner_server-7] [INFO] [1614726176.088594158] [planner_server]: [planner_server-7] planner_server lifecycle node launched. [planner_server-7] Waiting on external lifecycle transitions to activate [planner_server-7] See https://design.ros2.org/articles/node_lifecycle.html for more information. [map_server-3] [INFO] [1614726176.091038087] [map_server]: Configuring [map_server-3] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [map_server-3] Expires on 19-nov-2021 See www.rti.com for more information. [map_server-3] [INFO] [map_io]: Loading yaml file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.yaml [planner_server-7] [INFO] [1614726176.091574914] [planner_server]: Creating [map_server-3] [DEBUG] [map_io]: resolution: 0.05 [map_server-3] [DEBUG] [map_io]: origin[0]: -10 [map_server-3] [DEBUG] [map_io]: origin[1]: -10 [map_server-3] [DEBUG] [map_io]: origin[2]: 0 [map_server-3] [DEBUG] [map_io]: free_thresh: 0.196 [map_server-3] [DEBUG] [map_io]: occupied_thresh: 0.65 [map_server-3] [DEBUG] [map_io]: mode: trinary [map_server-3] [DEBUG] [map_io]: negate: 0 [map_server-3] [INFO] [map_io]: Loading image_file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm [controller_server-6] [INFO] [1614726176.092067432] [controller_server]: Creating controller server [map_server-3] [DEBUG] [map_io]: Read map /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell [lifecycle_manager-5] [INFO] [1614726176.134057633] [lifecycle_manager_localization]: Configuring amcl [amcl-4] [INFO] [1614726176.134497801] [amcl]: Configuring [amcl-4] [INFO] [1614726176.134611235] [amcl]: initTransforms [amcl-4] [INFO] [1614726176.152728314] [amcl]: initPubSub [controller_server-6] [INFO] [1614726176.154600777] [local_costmap.local_costmap]: [controller_server-6] local_costmap lifecycle node launched. [controller_server-6] Waiting on external lifecycle transitions to activate [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-6] [INFO] [1614726176.157370785] [local_costmap.local_costmap]: Creating Costmap [planner_server-7] [INFO] [1614726176.161860461] [global_costmap.global_costmap]: [planner_server-7] global_costmap lifecycle node launched. [planner_server-7] Waiting on external lifecycle transitions to activate [planner_server-7] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-7] [INFO] [1614726176.163251156] [global_costmap.global_costmap]: Creating Costmap [amcl-4] [INFO] [1614726176.171218871] [amcl]: Subscribed to map topic. [lifecycle_manager-5] [INFO] [1614726176.181373697] [lifecycle_manager_localization]: Activating map_server [map_server-3] [INFO] [1614726176.182276370] [map_server]: Activating [amcl-4] [INFO] [1614726176.183283240] [amcl]: Received a 384 X 384 map @ 0.050 m/pix [lifecycle_manager-5] [INFO] [1614726176.183841301] [lifecycle_manager_localization]: Activating amcl [amcl-4] [INFO] [1614726176.185589230] [amcl]: Activating [amcl-4] [WARN] [1614726176.185633790] [amcl]: Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, will be published as nav2_msgs/ParticleCloud in the future [lifecycle_manager-5] [INFO] [1614726176.187194939] [lifecycle_manager_localization]: Managed nodes are active [amcl-4] [INFO] [1614726176.222419254] [amcl]: createLaserObject [rviz2-2] [INFO] [1614726176.772810695] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1614726176.773105216] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1614726176.933801909] [rviz2]: Stereo is NOT SUPPORTED [amcl-4] [WARN] [1614726177.068470000] [amcl]: New subscription discovered on this topic, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [rviz2-2] [ERROR] [1614726177.149611150] [rmw_connextdds]: failed to enable dds reader [rviz2-2] [ERROR] [1614726177.149639271] [rmw_connextdds]: failed to enable subscription [rviz2-2] [ERROR] [1614726177.149693970] [rmw_connextdds]: failed to create RMW subscription [rviz2-2] [ERROR] [1614726177.149898374] [rviz2]: Could not load display config: could not create subscription: failed to enable dds reader, at /opt/ros/overlay_ws/src/rticommunity/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp:940, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/subscription.c:168 [amcl-4] [ERROR] [1614726177.235911812] [rmw_connextdds]: duration overflow detected [amcl-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [amcl-4] what(): rcl_wait() failed: error not set, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/wait.c:640 [rviz2-2] [INFO] [1614726177.238849108] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [rviz2-2] Expires on 19-nov-2021 See www.rti.com for more information. [rviz2-2] PRESPsService_enableLocalEndpointWithCursor:!get non-zero serialized sample max size [rviz2-2] PRESPsService_enableLocalEndpoint:!enable local endpoint [rviz2-2] Backtrace: [rviz2-2] #1 ?? ??:0 [0xCCF21D9C] [rviz2-2] #2 ?? ??:0 [0xD37C5210] [rviz2-2] #3 ?? ??:0 [0x8F443E82] [rviz2-2] #4 ?? ??:0 [0x8F445006] [rviz2-2] #5 ?? ??:0 [0x8F444DC0] [rviz2-2] #6 ?? ??:0 [0x8F43BEDE] [rviz2-2] #7 ?? ??:0 [0x8F43D52F] [rviz2-2] #8 ?? ??:0 [0xD3C5E00C] [rviz2-2] #9 ?? ??:0 [0xD3C5E8CB] [rviz2-2] #10 ?? ??:0 [0xD3C5F085] [rviz2-2] #11 ?? ??:0 [0xD3C60D1B] [rviz2-2] #12 ?? ??:0 [0xD4B03433] [rviz2-2] #13 ?? ??:0 [0xD4006300] [rviz2-2] #14 ?? ??:0 [0xD401351E] [rviz2-2] #15 ?? ??:0 [0xD4006CF5] [rviz2-2] #16 ?? ??:0 [0xD4407A66] [rviz2-2] #17 ?? ??:0 [0xD44110F0] [rviz2-2] #18 ?? ??:0 [0xD3FDA93A] [rviz2-2] #19 ?? ??:0 [0xD40318B0] [rviz2-2] #20 ?? ??:0 [0xD403219C] [rviz2-2] #21 ?? ??:0 [0xD1CF6F9D] [rviz2-2] #22 ?? ??:0 [0xD1CF7220] [rviz2-2] #23 ?? ??:0 [0xD1CF72C3] [rviz2-2] #24 ?? ??:0 [0xD4032565] [rviz2-2] #25 ?? ??:0 [0xD3FD94DB] [rviz2-2] #26 ?? ??:0 [0xD3FE1246] [rviz2-2] #27 ?? ??:0 [0xCC519A96] [rviz2-2] #28 ?? ??:0 [0xD37A60B3] [rviz2-2] #29 ?? ??:0 [0xCC519B5E] [ERROR] [amcl-4]: process has died [pid 1396, exit code -6, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmpgsys8q79 -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [rviz2-2]: process has died [pid 1392, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2']. [INFO] [lifecycle_manager-11]: sending signal 'SIGINT' to process[lifecycle_manager-11] [INFO] [waypoint_follower-10]: sending signal 'SIGINT' to process[waypoint_follower-10] [INFO] [bt_navigator-9]: sending signal 'SIGINT' to process[bt_navigator-9] [INFO] [recoveries_server-8]: sending signal 'SIGINT' to process[recoveries_server-8] [INFO] [planner_server-7]: sending signal 'SIGINT' to process[planner_server-7] [INFO] [controller_server-6]: sending signal 'SIGINT' to process[controller_server-6] [INFO] [lifecycle_manager-5]: sending signal 'SIGINT' to process[lifecycle_manager-5] [INFO] [map_server-3]: sending signal 'SIGINT' to process[map_server-3] [INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1] [lifecycle_manager-11] [INFO] [1614726177.594330233] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-10] [INFO] [1614726177.597155462] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-10] [INFO] [1614726177.598752471] [waypoint_follower]: Destroying [bt_navigator-9] [INFO] [1614726177.599920062] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-9] [INFO] [1614726177.601268686] [bt_navigator]: Destroying [recoveries_server-8] [INFO] [1614726177.602709601] [rclcpp]: signal_handler(signal_value=2) [planner_server-7] [INFO] [1614726177.605821629] [rclcpp]: signal_handler(signal_value=2) [controller_server-6] [INFO] [1614726177.609004524] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-5] [INFO] [1614726177.612402949] [rclcpp]: signal_handler(signal_value=2) [planner_server-7] [INFO] [1614726177.612581271] [planner_server]: Destroying [planner_server-7] [INFO] [1614726177.612652024] [global_costmap.global_costmap]: Destroying [lifecycle_manager-5] [INFO] [1614726177.614402546] [lifecycle_manager_localization]: Destroying [map_server-3] [INFO] [1614726177.615764468] [rclcpp]: signal_handler(signal_value=2) [controller_server-6] [INFO] [1614726177.616549235] [controller_server]: Destroying [controller_server-6] [INFO] [1614726177.616626125] [local_costmap.local_costmap]: Destroying [map_server-3] [INFO] [1614726177.617408847] [map_server]: Destroying [robot_state_publisher-1] [INFO] [1614726177.619234741] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-11] terminate called after throwing an instance of 'std::runtime_error' [lifecycle_manager-11] what(): controller_server/change_state service client: interrupted while waiting for service [ERROR] [lifecycle_manager-11]: process has died [pid 1410, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_hnlwiy3b --params-file /tmp/launch_params_oswuw007 --params-file /tmp/launch_params_3o_oudkg']. [recoveries_server-8] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [recoveries_server-8] Expires on 19-nov-2021 See www.rti.com for more information. [planner_server-7] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [planner_server-7] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [recoveries_server-8]: process has finished cleanly [pid 1404] [INFO] [planner_server-7]: process has finished cleanly [pid 1402] [bt_navigator-9] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-9] Expires on 19-nov-2021 See www.rti.com for more information. [lifecycle_manager-5] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [lifecycle_manager-5] Expires on 19-nov-2021 See www.rti.com for more information. [robot_state_publisher-1] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-1] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 1390] [waypoint_follower-10] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-10] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [bt_navigator-9]: process has finished cleanly [pid 1406] [INFO] [lifecycle_manager-5]: process has finished cleanly [pid 1398] [controller_server-6] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [controller_server-6] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [waypoint_follower-10]: process has finished cleanly [pid 1408] [INFO] [controller_server-6]: process has finished cleanly [pid 1400] [INFO] [map_server-3]: process has finished cleanly [pid 1394] ```

rmw_connextdds w security

``` root@e82efae0b786:/opt/ros# ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False [INFO] [launch]: All log files can be found below /root/.ros/log/2021-03-02-14-57-09-164568-e82efae0b786-1685 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [1714] [INFO] [rviz2-2]: process started with pid [1716] [INFO] [map_server-3]: process started with pid [1718] [INFO] [amcl-4]: process started with pid [1720] [INFO] [lifecycle_manager-5]: process started with pid [1722] [INFO] [controller_server-6]: process started with pid [1724] [INFO] [planner_server-7]: process started with pid [1726] [INFO] [recoveries_server-8]: process started with pid [1728] [INFO] [bt_navigator-9]: process started with pid [1730] [INFO] [waypoint_follower-10]: process started with pid [1732] [INFO] [lifecycle_manager-11]: process started with pid [1734] [robot_state_publisher-1] [INFO] [1614725829.672266936] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-5] [INFO] [1614725829.678446040] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [amcl-4] [INFO] [1614725829.683970125] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [waypoint_follower-10] [INFO] [1614725829.684341912] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-6] [INFO] [1614725829.685095056] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-11] [INFO] [1614725829.685216418] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [map_server-3] [INFO] [1614725829.685856097] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [planner_server-7] [INFO] [1614725829.688068960] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-8] [INFO] [1614725829.688966801] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [bt_navigator-9] [INFO] [1614725829.694008088] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [rviz2-2] [INFO] [1614725829.741979170] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [robot_state_publisher-1] [WARN] [1614725829.771795897] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [lifecycle_manager-5] [INFO] [1614725829.776986858] [lifecycle_manager_localization]: Creating [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 7 children [robot_state_publisher-1] Link camera_link had 2 children [robot_state_publisher-1] Link camera_depth_frame had 1 children [robot_state_publisher-1] Link camera_depth_optical_frame had 0 children [robot_state_publisher-1] Link camera_rgb_frame had 1 children [robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-1] Link caster_back_left_link had 0 children [robot_state_publisher-1] Link caster_back_right_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] [INFO] [1614725829.780166870] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1614725829.780241677] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1614725829.780275893] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1614725829.780304239] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1614725829.780396769] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1614725829.780437044] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1614725829.780474017] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1614725829.780510026] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1614725829.780558267] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1] [INFO] [1614725829.780600020] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-1] [INFO] [1614725829.780698129] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1614725829.780746151] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1614725829.780780832] [robot_state_publisher]: got segment wheel_right_link [lifecycle_manager-11] [INFO] [1614725829.781798080] [lifecycle_manager_navigation]: Creating [waypoint_follower-10] [INFO] [1614725829.785984595] [waypoint_follower]: [waypoint_follower-10] waypoint_follower lifecycle node launched. [waypoint_follower-10] Waiting on external lifecycle transitions to activate [waypoint_follower-10] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-10] [INFO] [1614725829.786129282] [waypoint_follower]: Creating [map_server-3] [INFO] [1614725829.798218436] [map_server]: [map_server-3] map_server lifecycle node launched. [map_server-3] Waiting on external lifecycle transitions to activate [map_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [map_server-3] [INFO] [1614725829.798383286] [map_server]: Creating [amcl-4] [INFO] [1614725829.798746886] [amcl]: [amcl-4] amcl lifecycle node launched. [amcl-4] Waiting on external lifecycle transitions to activate [amcl-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [amcl-4] [INFO] [1614725829.798985593] [amcl]: Creating [lifecycle_manager-5] [INFO] [1614725829.799551189] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [bt_navigator-9] [INFO] [1614725829.802493918] [bt_navigator]: [bt_navigator-9] bt_navigator lifecycle node launched. [bt_navigator-9] Waiting on external lifecycle transitions to activate [bt_navigator-9] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-9] [INFO] [1614725829.802655962] [bt_navigator]: Creating [controller_server-6] [INFO] [1614725829.804832631] [controller_server]: [controller_server-6] controller_server lifecycle node launched. [controller_server-6] Waiting on external lifecycle transitions to activate [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-11] [INFO] [1614725829.804931434] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [lifecycle_manager-5] [INFO] [1614725829.809051881] [lifecycle_manager_localization]: Starting managed nodes bringup... [lifecycle_manager-5] [INFO] [1614725829.809126022] [lifecycle_manager_localization]: Configuring map_server [controller_server-6] [INFO] [1614725829.813352812] [controller_server]: Creating controller server [planner_server-7] [INFO] [1614725829.815360140] [planner_server]: [planner_server-7] planner_server lifecycle node launched. [planner_server-7] Waiting on external lifecycle transitions to activate [planner_server-7] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-7] [INFO] [1614725829.817750059] [planner_server]: Creating [lifecycle_manager-11] [INFO] [1614725829.821124230] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-11] [INFO] [1614725829.821263731] [lifecycle_manager_navigation]: Configuring controller_server [recoveries_server-8] [INFO] [1614725829.822549149] [recoveries_server]: [recoveries_server-8] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-6] [INFO] [1614725829.851734100] [local_costmap.local_costmap]: [controller_server-6] local_costmap lifecycle node launched. [controller_server-6] Waiting on external lifecycle transitions to activate [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-6] [INFO] [1614725829.852727577] [local_costmap.local_costmap]: Creating Costmap [planner_server-7] [INFO] [1614725829.856946229] [global_costmap.global_costmap]: [planner_server-7] global_costmap lifecycle node launched. [planner_server-7] Waiting on external lifecycle transitions to activate [planner_server-7] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-7] [INFO] [1614725829.857894323] [global_costmap.global_costmap]: Creating Costmap [rviz2-2] [INFO] [1614725830.603344870] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1614725830.603618289] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1614725830.776207447] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [ERROR] [1614725831.019096562] [rmw_connextdds]: failed to enable dds reader [rviz2-2] [ERROR] [1614725831.019125677] [rmw_connextdds]: failed to enable subscription [rviz2-2] [ERROR] [1614725831.019156635] [rmw_connextdds]: failed to create RMW subscription [rviz2-2] [ERROR] [1614725831.019356106] [rviz2]: Could not load display config: could not create subscription: failed to enable dds reader, at /opt/ros/overlay_ws/src/rticommunity/rmw_connextdds/rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp:940, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/subscription.c:168 [rviz2-2] [INFO] [1614725831.143005072] [rviz2]: Stereo is NOT SUPPORTED [controller_server-6] [INFO] [1614725835.879753869] [controller_server]: Configuring controller interface [controller_server-6] [INFO] [1614725835.880567517] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-6] [INFO] [1614725835.881008763] [local_costmap.local_costmap]: Configuring [controller_server-6] [INFO] [1614725835.899632569] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-6] [INFO] [1614725835.904082254] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-6] [INFO] [1614725835.919608934] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-6] [INFO] [1614725835.944924659] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-6] [INFO] [1614725835.945956629] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-6] [INFO] [1614725835.950982313] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-6] [INFO] [1614725835.952858524] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-6] [INFO] [1614725836.013127736] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-6] [INFO] [1614725836.014291666] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.014608780] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-6] [INFO] [1614725836.015920687] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.016306692] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-6] [INFO] [1614725836.016849409] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.017189970] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-6] [INFO] [1614725836.018111329] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.018474125] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-6] [INFO] [1614725836.018902276] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.019349469] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-6] [INFO] [1614725836.019838211] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.020201323] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-6] [INFO] [1614725836.020762954] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1614725836.021166200] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-11] [INFO] [1614725836.042193861] [lifecycle_manager_navigation]: Configuring planner_server [planner_server-7] [INFO] [1614725836.042739030] [planner_server]: Configuring [planner_server-7] [INFO] [1614725836.042813639] [global_costmap.global_costmap]: Configuring [planner_server-7] [INFO] [1614725836.059079435] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-7] [INFO] [1614725836.063440356] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-7] [INFO] [1614725836.066649709] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-7] [INFO] [1614725836.066984039] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-7] [INFO] [1614725836.067792832] [global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-7] [INFO] [1614725836.074263644] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-7] [INFO] [1614725836.074342326] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-7] [INFO] [1614725836.075485646] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-7] [INFO] [1614725836.099072241] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-7] [INFO] [1614725836.099244701] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-7] [INFO] [1614725836.099939893] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-11] [INFO] [1614725836.116452787] [lifecycle_manager_navigation]: Configuring recoveries_server [recoveries_server-8] [INFO] [1614725836.817736613] [recoveries_server]: Configuring [recoveries_server-8] [INFO] [1614725836.858998801] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin [recoveries_server-8] [INFO] [1614725836.861040547] [recoveries_server]: Configuring spin [recoveries_server-8] [INFO] [1614725836.881259032] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp [recoveries_server-8] [INFO] [1614725836.883098132] [recoveries_server]: Configuring backup [recoveries_server-8] [INFO] [1614725836.897860135] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait [recoveries_server-8] [INFO] [1614725836.899157038] [recoveries_server]: Configuring wait [lifecycle_manager-11] [INFO] [1614725836.917216886] [lifecycle_manager_navigation]: Configuring bt_navigator [bt_navigator-9] [INFO] [1614725836.917657141] [bt_navigator]: Configuring [bt_navigator-9] [INFO] [1614725837.030352163] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server [bt_navigator-9] [INFO] [1614725837.030554829] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized [bt_navigator-9] [INFO] [1614725837.033147637] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service [bt_navigator-9] [INFO] [1614725837.134307660] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized [bt_navigator-9] [INFO] [1614725837.156972291] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server [bt_navigator-9] [INFO] [1614725837.257922510] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized [bt_navigator-9] [INFO] [1614725837.262435325] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service [bt_navigator-9] [INFO] [1614725837.469078216] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized [bt_navigator-9] [INFO] [1614725837.472312577] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service [bt_navigator-9] [INFO] [1614725837.574311352] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized [bt_navigator-9] [INFO] [1614725837.593780107] [bt_navigator_rclcpp_node]: Waiting for "spin" action server [bt_navigator-9] [INFO] [1614725837.611746938] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized [lifecycle_manager-11] [INFO] [1614725837.613133757] [lifecycle_manager_navigation]: Configuring waypoint_follower [controller_server-6] [INFO] [1614725837.679611593] [local_costmap.local_costmap]: Activating [controller_server-6] [INFO] [1614725837.679668020] [local_costmap.local_costmap]: Checking transform [controller_server-6] [INFO] [1614725837.679743629] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [controller_server-6] [INFO] [1614725838.179809660] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [controller_server-6] [INFO] [1614725838.679817141] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [map_server-3] [INFO] [1614725838.774485268] [map_server]: Configuring [map_server-3] [DEBUG] [map_io]: origin[1]: -10 [map_server-3] [DEBUG] [map_io]: origin[2]: 0 [map_server-3] [DEBUG] [map_io]: mode: trinary [map_server-3] [DEBUG] [map_io]: Read map /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell [lifecycle_manager-5] [INFO] [1614725838.811753925] [lifecycle_manager_localization]: Configuring amcl [amcl-4] [INFO] [1614725838.812279025] [amcl]: Configuring [amcl-4] [INFO] [1614725838.812394368] [amcl]: initTransforms [amcl-4] [INFO] [1614725838.841999182] [amcl]: initPubSub [amcl-4] [INFO] [1614725838.857514173] [amcl]: Subscribed to map topic. [lifecycle_manager-5] [INFO] [1614725838.866409131] [lifecycle_manager_localization]: Activating map_server [map_server-3] [INFO] [1614725838.866855392] [map_server]: Activating [amcl-4] [INFO] [1614725838.868438792] [amcl]: Received a 384 X 384 map @ 0.050 m/pix [planner_server-7] [INFO] [1614725838.868652530] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 384 X 384 at 0.050000 m/pix [lifecycle_manager-5] [INFO] [1614725838.868788881] [lifecycle_manager_localization]: Activating amcl [amcl-4] [INFO] [1614725838.870559090] [amcl]: Activating [amcl-4] [WARN] [1614725838.870609081] [amcl]: Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, will be published as nav2_msgs/ParticleCloud in the future [lifecycle_manager-5] [INFO] [1614725838.871246071] [lifecycle_manager_localization]: Managed nodes are active [rviz2-2] [INFO] [1614725838.896099832] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches [amcl-4] [INFO] [1614725839.024295981] [amcl]: createLaserObject [amcl-4] [WARN] [1614725839.043862366] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose... [planner_server-7] [INFO] [1614725839.185447888] [planner_server]: Activating [planner_server-7] [INFO] [1614725839.185559384] [global_costmap.global_costmap]: Activating [planner_server-7] [INFO] [1614725839.185559384] [global_costmap.global_costmap]: Activating [planner_server-7] [INFO] [1614725839.185724073] [global_costmap.global_costmap]: Checking transform [planner_server-7] [INFO] [1614725839.185855153] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [controller_server-6] [ERROR] [1614725839.234453509] [rmw_connextdds]: duration overflow detected [controller_server-6] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [controller_server-6] what(): rcl_wait() failed: error not set, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/wait.c:640 [rviz2-2] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [rviz2-2] Expires on 19-nov-2021 See www.rti.com for more information. [rviz2-2] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [rviz2-2] Expires on 19-nov-2021 See www.rti.com for more information. [rviz2-2] PRESPsService_enableLocalEndpointWithCursor:!get non-zero serialized sample max size [rviz2-2] PRESPsService_enableLocalEndpoint:!enable local endpoint [rviz2-2] Backtrace: [rviz2-2] #1 ?? ??:0 [0x61BCD9C] [rviz2-2] #2 ?? ??:0 [0xCA60210] [rviz2-2] #3 ?? ??:0 [0xC92B80AE] [rviz2-2] #4 ?? ??:0 [0xC92B93B6] [rviz2-2] #5 ?? ??:0 [0xC92B8FF1] [rviz2-2] #6 ?? ??:0 [0xC92B04AE] [rviz2-2] #7 ?? ??:0 [0xC92B14DF] [rviz2-2] #8 ?? ??:0 [0xCEF900C] [rviz2-2] #9 ?? ??:0 [0xCEF98CB] [rviz2-2] #10 ?? ??:0 [0xCEFA085] [rviz2-2] #11 ?? ??:0 [0xCEFBD1B] [rviz2-2] #12 ?? ??:0 [0xDD9E433] [rviz2-2] #13 ?? ??:0 [0xD2A1300] [rviz2-2] #14 ?? ??:0 [0xD2AE51E] [rviz2-2] #15 ?? ??:0 [0xD2A1CF5] [rviz2-2] #16 ?? ??:0 [0xD6A2A66] [rviz2-2] #17 ?? ??:0 [0xD6AC0F0] [rviz2-2] #18 ?? ??:0 [0xD27593A] [rviz2-2] #19 ?? ??:0 [0xD2CC8B0] [rviz2-2] #20 ?? ??:0 [0xD2CD19C] [rviz2-2] #21 ?? ??:0 [0xAF91F9D] [rviz2-2] #22 ?? ??:0 [0xAF92220] [rviz2-2] #23 ?? ??:0 [0xAF922C3] [rviz2-2] #24 ?? ??:0 [0xD2CD565] [rviz2-2] #25 ?? ??:0 [0xD2744DB] [rviz2-2] #26 ?? ??:0 [0xD27C246] [rviz2-2] #27 ?? ??:0 [0x6D770A96] [rviz2-2] #28 ?? ??:0 [0xCA410B3] [rviz2-2] #29 ?? ??:0 [0x6D770B5E] [ERROR] [controller_server-6]: process has died [pid 1724, exit code -6, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpyucts5s_ -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [rviz2-2]: process has died [pid 1716, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2']. [INFO] [lifecycle_manager-11]: sending signal 'SIGINT' to process[lifecycle_manager-11] [INFO] [waypoint_follower-10]: sending signal 'SIGINT' to process[waypoint_follower-10] [INFO] [bt_navigator-9]: sending signal 'SIGINT' to process[bt_navigator-9] [INFO] [recoveries_server-8]: sending signal 'SIGINT' to process[recoveries_server-8] [INFO] [planner_server-7]: sending signal 'SIGINT' to process[planner_server-7] [INFO] [lifecycle_manager-5]: sending signal 'SIGINT' to process[lifecycle_manager-5] [INFO] [amcl-4]: sending signal 'SIGINT' to process[amcl-4] [INFO] [map_server-3]: sending signal 'SIGINT' to process[map_server-3] [INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1] [INFO] [recoveries_server-8]: process has finished cleanly [pid 1728] [lifecycle_manager-11] [INFO] [1614725839.601376120] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-11] [ERROR] [1614725839.602424238] [lifecycle_manager_navigation]: Failed to change state for node: planner_server [lifecycle_manager-11] [ERROR] [1614725839.602436557] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup. [lifecycle_manager-11] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [lifecycle_manager-11] what(): Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/guard_condition.c:67 [waypoint_follower-10] [INFO] [1614725839.603564688] [rclcpp]: signal_handler(signal_value=2) [INFO] [planner_server-7]: process has finished cleanly [pid 1726] [bt_navigator-9] [INFO] [1614725839.606267158] [rclcpp]: signal_handler(signal_value=2) [waypoint_follower-10] [INFO] [1614725839.606854990] [waypoint_follower]: Destroying [recoveries_server-8] [INFO] [1614725839.609445143] [rclcpp]: signal_handler(signal_value=2) [bt_navigator-9] [INFO] [1614725839.612021827] [bt_navigator]: Destroying [planner_server-7] [INFO] [1614725839.612362381] [rclcpp]: signal_handler(signal_value=2) [planner_server-7] [INFO] [1614725839.612801543] [global_costmap.global_costmap]: start [planner_server-7] [ERROR] [1614725839.613212018] []: Caught exception in callback for transition 13 [planner_server-7] [ERROR] [1614725839.613223092] []: Original error: could not create subscription: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/node.c:441 [planner_server-7] [ERROR] [1614725839.613247743] []: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/publisher.c:423, at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.10/src/rcl_lifecycle.c:367) [recoveries_server-8] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [recoveries_server-8] Expires on 19-nov-2021 See www.rti.com for more information. [recoveries_server-8] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [recoveries_server-8] Expires on 19-nov-2021 See www.rti.com for more information. [waypoint_follower-10] [ERROR] [1614725839.615411235] [rclcpp_action]: Error in destruction of rcl action client handle: the Node Handle was destructed too early. You will leak memory [lifecycle_manager-5] [INFO] [1614725839.615734402] [rclcpp]: signal_handler(signal_value=2) [lifecycle_manager-5] [INFO] [1614725839.617911508] [lifecycle_manager_localization]: Destroying [amcl-4] [INFO] [1614725839.618716570] [rclcpp]: signal_handler(signal_value=2) [planner_server-7] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [planner_server-7] Expires on 19-nov-2021 See www.rti.com for more information. [planner_server-7] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [planner_server-7] Expires on 19-nov-2021 See www.rti.com for more information. [map_server-3] [INFO] [1614725839.621847749] [rclcpp]: signal_handler(signal_value=2) [amcl-4] [INFO] [1614725839.622439281] [amcl]: Destroying [map_server-3] [INFO] [1614725839.623370564] [map_server]: Destroying [robot_state_publisher-1] [INFO] [1614725839.626021679] [rclcpp]: signal_handler(signal_value=2) [ERROR] [lifecycle_manager-11]: process has died [pid 1734, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_t0yhf5_w --params-file /tmp/launch_params_2n7hnxz2 --params-file /tmp/launch_params_3r6r3tyv']. [lifecycle_manager-5] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [lifecycle_manager-5] Expires on 19-nov-2021 See www.rti.com for more information. [lifecycle_manager-5] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [lifecycle_manager-5] Expires on 19-nov-2021 See www.rti.com for more information. [amcl-4] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [amcl-4] Expires on 19-nov-2021 See www.rti.com for more information. [amcl-4] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [amcl-4] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [lifecycle_manager-5]: process has finished cleanly [pid 1722] [INFO] [amcl-4]: process has finished cleanly [pid 1720] [waypoint_follower-10] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-10] Expires on 19-nov-2021 See www.rti.com for more information. [waypoint_follower-10] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [waypoint_follower-10] Expires on 19-nov-2021 See www.rti.com for more information. [robot_state_publisher-1] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-1] Expires on 19-nov-2021 See www.rti.com for more information. [robot_state_publisher-1] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [robot_state_publisher-1] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 1714] [INFO] [waypoint_follower-10]: process has finished cleanly [pid 1732] [INFO] [map_server-3]: process has finished cleanly [pid 1718] [bt_navigator-9] RTI Connext DDS Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-9] Expires on 19-nov-2021 See www.rti.com for more information. [bt_navigator-9] RTI Security Plugins Research License issued to University of California San Diego (UCSD01-UP) ... For non-production use only. [bt_navigator-9] Expires on 19-nov-2021 See www.rti.com for more information. [INFO] [bt_navigator-9]: process has finished cleanly [pid 1730] ```

[ruffsl]

Demo now seems to work with the default rmw on foxy binaries, but only without security enabled. Will follow up on tracking down the ROS2 issues with security in separate tickets.