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ros-swg / turtlebot3_demo

Repository to build and test Turtlebot3 packages
Apache License 2.0
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Update policy file for Foxy #35

Closed ruffsl closed 3 years ago

ruffsl commented 3 years ago

Updated the policy file for ROS2 Foxy, while also splitting profiles into separate smaller enclaves.

ruffsl commented 3 years ago

This is working with rmw_connextdds , but still not with the default rmw, as nav2 still stalls at lunch:

``` ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False [INFO] [launch]: All log files can be found below /root/.ros/log/2021-03-16-16-39-48-443322-4e17843b9ad3-4244 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [4268] [INFO] [rviz2-2]: process started with pid [4270] [INFO] [map_server-3]: process started with pid [4272] [INFO] [amcl-4]: process started with pid [4274] [INFO] [lifecycle_manager-5]: process started with pid [4276] [INFO] [controller_server-6]: process started with pid [4278] [INFO] [planner_server-7]: process started with pid [4280] [INFO] [recoveries_server-8]: process started with pid [4282] [INFO] [bt_navigator-9]: process started with pid [4284] [INFO] [waypoint_follower-10]: process started with pid [4286] [INFO] [lifecycle_manager-11]: process started with pid [4288] [robot_state_publisher-1] [INFO] [1615937988.933554426] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [lifecycle_manager-5] [INFO] [1615937988.940991362] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [recoveries_server-8] [INFO] [1615937988.943221931] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [lifecycle_manager-11] [INFO] [1615937988.944115005] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [planner_server-7] [INFO] [1615937988.944249817] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [waypoint_follower-10] [INFO] [1615937988.948356304] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [bt_navigator-9] [INFO] [1615937988.948708271] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [amcl-4] [INFO] [1615937988.949557735] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [map_server-3] [INFO] [1615937988.949992271] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [robot_state_publisher-1] 2021-03-16 16:39:48.950 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] [INFO] [1615937988.951243702] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [robot_state_publisher-1] 2021-03-16 16:39:48.952 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [robot_state_publisher-1] 2021-03-16 16:39:48.954 [SECURITY Error] rq/robot_state_publisher/get_parametersRequest topic not found in allow rule. (/tmp/binarydeb/ros-foxy-fastrtps-2.0.2/src/cpp/security/accesscontrol/Permissions.cpp:1291) -> Function check_create_datareader [robot_state_publisher-1] 2021-03-16 16:39:48.954 [SECURITY Error] Error checking creation of local reader 8b.27.64.8f.f1.e2.24.45.40.9.8c.a4|0.0.4.4 (rq/robot_state_publisher/get_parametersRequest topic not found in allow rule. (/tmp/binarydeb/ros-foxy-fastrtps-2.0.2/src/cpp/security/accesscontrol/Permissions.cpp:1291)) [robot_state_publisher-1] -> Function register_local_reader [robot_state_publisher-1] 2021-03-16 16:39:48.954 [PARTICIPANT Error] Problem creating associated Reader -> Function createSubscriber [robot_state_publisher-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [robot_state_publisher-1] what(): could not create service: failed to create service request subscriber, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-cpp-1.2.4/src/rmw_service.cpp:223, at /tmp/binarydeb/ros-foxy-rcl-1.1.10/src/rcl/service.c:186 [lifecycle_manager-5] 2021-03-16 16:39:48.956 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.958 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.959 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [recoveries_server-8] 2021-03-16 16:39:48.958 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [recoveries_server-8] 2021-03-16 16:39:48.959 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [recoveries_server-8] 2021-03-16 16:39:48.960 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [recoveries_server-8] 2021-03-16 16:39:48.960 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:48.960 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.961 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.961 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:48.962 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [recoveries_server-8] 2021-03-16 16:39:48.962 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.963 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.963 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:48.963 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.963 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.964 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.964 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:48.965 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.966 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:48.967 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:48.967 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.967 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] 2021-03-16 16:39:48.968 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.964 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.965 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.966 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.967 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:48.969 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.970 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.970 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] [INFO] [1615937988.971111670] [lifecycle_manager_localization]: Creating [lifecycle_manager-11] 2021-03-16 16:39:48.970 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] [INFO] [1615937988.972580536] [lifecycle_manager_navigation]: Creating [lifecycle_manager-5] 2021-03-16 16:39:48.972 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.971 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.972 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.973 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] 2021-03-16 16:39:48.971 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] 2021-03-16 16:39:48.973 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] 2021-03-16 16:39:48.974 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.974 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.975 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.975 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] 2021-03-16 16:39:48.975 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.975 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.977 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.978 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.979 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:48.980 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [map_server-3] 2021-03-16 16:39:48.978 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [map_server-3] 2021-03-16 16:39:48.978 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [map_server-3] 2021-03-16 16:39:48.980 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.981 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.981 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.983 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.983 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] [INFO] [1615937988.983869477] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [waypoint_follower-10] 2021-03-16 16:39:48.982 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] 2021-03-16 16:39:48.984 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.984 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.985 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] [INFO] [1615937988.985133177] [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] [1615937988.985257697] [bt_navigator]: Creating [waypoint_follower-10] 2021-03-16 16:39:48.986 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.984 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.984 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.985 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] [INFO] [1615937988.986859838] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [amcl-4] 2021-03-16 16:39:48.987 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.987 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.988 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:48.988 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] [INFO] [1615937988.989161436] [waypoint_follower]: [waypoint_follower-10] waypoint_follower lifecycle node launched. [waypoint_follower-10] Waiting on external lifecycle transitions to activate [map_server-3] [INFO] [1615937988.989478259] [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] [1615937988.989579192] [map_server]: Creating [lifecycle_manager-5] [INFO] [1615937988.989763976] [lifecycle_manager_localization]: Starting managed nodes bringup... [lifecycle_manager-5] [INFO] [1615937988.989818416] [lifecycle_manager_localization]: Configuring map_server [controller_server-6] 2021-03-16 16:39:48.989 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.990 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:48.990 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-11] [INFO] [1615937988.992301368] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-11] [INFO] [1615937988.992348467] [lifecycle_manager_navigation]: Configuring controller_server [planner_server-7] [INFO] [1615937988.995550093] [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. [recoveries_server-8] [INFO] [1615937988.995642136] [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. [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [planner_server-7] [INFO] [1615937988.998100897] [planner_server]: Creating [controller_server-6] [INFO] [1615937989.000513261] [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. [amcl-4] [INFO] [1615937989.004625520] [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] [1615937989.004739502] [amcl]: Creating [controller_server-6] [INFO] [1615937989.005776709] [controller_server]: Creating controller server [rviz2-2] [INFO] [1615937989.009000795] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves/nav2_map [planner_server-7] [INFO] [1615937989.011516262] [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] [1615937989.012303488] [global_costmap.global_costmap]: Creating Costmap [controller_server-6] [INFO] [1615937989.018421360] [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] [1615937989.019126834] [local_costmap.local_costmap]: Creating Costmap [lifecycle_manager-11] 2021-03-16 16:39:49.021 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [planner_server-7] 2021-03-16 16:39:49.022 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:49.022 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [amcl-4] 2021-03-16 16:39:49.022 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.023 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [bt_navigator-9] 2021-03-16 16:39:49.023 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [lifecycle_manager-5] 2021-03-16 16:39:49.024 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [waypoint_follower-10] 2021-03-16 16:39:49.024 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [controller_server-6] 2021-03-16 16:39:49.025 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.025 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.025 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.026 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.026 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.027 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [rviz2-2] 2021-03-16 16:39:49.028 [SECURITY Error] Cannot serialize ParticipantGenericMessage -> Function on_process_handshake [ERROR] [robot_state_publisher-1]: process has died [pid 4268, exit code -6, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher /opt/ros/foxy/share/nav2_bringup/urdf/turtlebot3_waffle.urdf --ros-args -r __node:=robot_state_publisher -r __ns:=/ --params-file /tmp/launch_params_elzdro24 -r /tf:=tf -r /tf_static:=tf_static']. [rviz2-2] [INFO] [1615937989.723230290] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1615937989.723451148] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1615937989.818385500] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [WARN] [1615937989.946112114] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-2] [WARN] [1615937989.952224920] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-2] [WARN] [1615937989.957934693] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-2] [INFO] [1615937989.972236988] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... [rviz2-2] [INFO] [1615937990.972436821] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... [rviz2-2] [INFO] [1615937991.972814653] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... ```
ruffsl commented 3 years ago

One can export ROS_SECURITY_ENCLAVE_OVERRIDE=/ (that just uses * permissions) for every launch command in common.conf file, and still encounter the DDS security errors:

``` ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False [INFO] [launch]: All log files can be found below /root/.ros/log/2021-03-16-16-55-37-489495-ada7fa7b9aca-1588 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [map_server-3]: process started with pid [1619] [INFO] [amcl-4]: process started with pid [1621] [INFO] [lifecycle_manager-5]: process started with pid [1623] [INFO] [controller_server-6]: process started with pid [1625] [INFO] [planner_server-7]: process started with pid [1627] [INFO] [recoveries_server-8]: process started with pid [1629] [INFO] [bt_navigator-9]: process started with pid [1631] [INFO] [waypoint_follower-10]: process started with pid [1633] [INFO] [lifecycle_manager-11]: process started with pid [1635] [robot_state_publisher-1] [INFO] [1615938938.043375457] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-5] [INFO] [1615938938.050648594] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [amcl-4] [INFO] [1615938938.055247808] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-6] [INFO] [1615938938.055888210] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [bt_navigator-9] [INFO] [1615938938.056186747] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [lifecycle_manager-11] [INFO] [1615938938.059064530] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [map_server-3] [INFO] [1615938938.060124909] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [recoveries_server-8] [INFO] [1615938938.061607010] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [robot_state_publisher-1] [WARN] [1615938938.061687369] [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_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] [1615938938.065196199] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1615938938.065245141] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1615938938.065261301] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1615938938.065366616] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1615938938.065440217] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1615938938.065462735] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1615938938.065494091] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1615938938.065532644] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1615938938.065545487] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1] [INFO] [1615938938.065567595] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-1] [INFO] [1615938938.065615250] [robot_state_publisher]: got segment imu_link [lifecycle_manager-5] [INFO] [1615938938.070753964] [lifecycle_manager_localization]: Creating [bt_navigator-9] [INFO] [1615938938.078728130] [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] [1615938938.078926957] [bt_navigator]: Creating [waypoint_follower-10] [INFO] [1615938938.079777820] [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] [1615938938.079908179] [waypoint_follower]: Creating [lifecycle_manager-11] [INFO] [1615938938.086251020] [lifecycle_manager_navigation]: Creating [lifecycle_manager-5] [INFO] [1615938938.089381989] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients [lifecycle_manager-5] [INFO] [1615938938.091675005] [lifecycle_manager_localization]: Starting managed nodes bringup... [lifecycle_manager-5] [INFO] [1615938938.092357715] [lifecycle_manager_localization]: Configuring map_server [lifecycle_manager-11] [INFO] [1615938938.092984347] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [controller_server-6] [INFO] [1615938938.095720808] [controller_server]: [controller_server-6] controller_server lifecycle node launched. [controller_server-6] Waiting on external lifecycle transitions to activate [planner_server-7] [INFO] [1615938938.096148336] [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. [controller_server-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-11] [INFO] [1615938938.099026979] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-11] [INFO] [1615938938.099069634] [lifecycle_manager_navigation]: Configuring controller_server [amcl-4] [INFO] [1615938938.099026252] [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] [1615938938.099217871] [amcl]: Creating [planner_server-7] [INFO] [1615938938.099453113] [planner_server]: Creating [map_server-3] [INFO] [1615938938.102759363] [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] [1615938938.102888044] [map_server]: Creating [controller_server-6] [INFO] [1615938938.107126006] [controller_server]: Creating controller server [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [recoveries_server-8] [INFO] [1615938938.110955000] [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. [planner_server-7] [INFO] [1615938938.120994924] [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] [1615938938.122525920] [global_costmap.global_costmap]: Creating Costmap [rviz2-2] [INFO] [1615938938.123719222] [rcl]: Found security directory: /opt/ros/overlay_ws/../keystore/enclaves [controller_server-6] [INFO] [1615938938.125166808] [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] [1615938938.126153713] [local_costmap.local_costmap]: Creating Costmap [waypoint_follower-10] 2021-03-16 16:55:38.159 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.160 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.169 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.187 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.200 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.498 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.499 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.500 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] [INFO] [1615938938.503243761] [map_server]: Configuring [map_server-3] [INFO] [map_io]: Loading yaml file: /opt/ros/foxy/share/nav2_bringup/maps/turtlebot3_world.yaml [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 [lifecycle_manager-5] 2021-03-16 16:55:38.514 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.514 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.525 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [recoveries_server-8] 2021-03-16 16:55:38.525 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [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 [waypoint_follower-10] 2021-03-16 16:55:38.529 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.529 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.531 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.531 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.531 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.533 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [recoveries_server-8] 2021-03-16 16:55:38.533 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.533 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] [INFO] [1615938938.534265029] [lifecycle_manager_localization]: Configuring amcl [robot_state_publisher-1] 2021-03-16 16:55:38.539 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.560 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.570 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.570 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.573 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.573 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:38.573 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [recoveries_server-8] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.577 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.581 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.581 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.584 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:38.584 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.586 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.586 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.587 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.587 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.590 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.595 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.612 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.614 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:38.614 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.623 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:38.623 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.623 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] [INFO] [1615938938.635173164] [amcl]: Configuring [amcl-4] [INFO] [1615938938.635333292] [amcl]: initTransforms [lifecycle_manager-5] 2021-03-16 16:55:38.635 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.635 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.636 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [recoveries_server-8] 2021-03-16 16:55:38.636 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.636 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.639 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.641 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.641 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.641 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.642 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.643 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] 2021-03-16 16:55:38.644 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.644 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.645 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] [INFO] [1615938938.645856504] [amcl]: initPubSub [robot_state_publisher-1] 2021-03-16 16:55:38.646 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.647 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.648 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [bt_navigator-9] 2021-03-16 16:55:38.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [map_server-3] Magick: abort due to signal 11 (SIGSEGV) "Segmentation Fault"... [robot_state_publisher-1] 2021-03-16 16:55:38.649 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:38.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.652 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] [INFO] [1615938938.652968267] [amcl]: Subscribed to map topic. [rviz2-2] 2021-03-16 16:55:38.653 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.656 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.657 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] [INFO] [1615938938.661563756] [lifecycle_manager_localization]: Activating map_server [controller_server-6] 2021-03-16 16:55:38.663 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.665 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.665 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.671 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.678 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.681 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:38.687 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:38.690 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:38.692 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] [INFO] [1615938938.697500841] [controller_server]: Configuring controller interface [controller_server-6] [INFO] [1615938938.698235688] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-6] [INFO] [1615938938.698373530] [local_costmap.local_costmap]: Configuring [controller_server-6] 2021-03-16 16:55:38.698 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.699 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.699 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] [INFO] [1615938938.711562575] [local_costmap.local_costmap]: Using plugin "voxel_layer" [lifecycle_manager-11] 2021-03-16 16:55:38.711 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.714 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-11] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [waypoint_follower-10] 2021-03-16 16:55:38.716 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [lifecycle_manager-5] 2021-03-16 16:55:38.716 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [controller_server-6] [INFO] [1615938938.717127257] [local_costmap.local_costmap]: Subscribed to Topics: scan [planner_server-7] 2021-03-16 16:55:38.717 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [lifecycle_manager-5] 2021-03-16 16:55:38.717 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [waypoint_follower-10] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [waypoint_follower-10] 2021-03-16 16:55:38.719 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [lifecycle_manager-11] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.720 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.721 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.725 [SECURITY_CRYPTO Error] Unable to authenticate the message. EVP_DecryptFinal_ex function returns an error -> Function deserialize_SecureDataTag [waypoint_follower-10] 2021-03-16 16:55:38.725 [SECURITY_CRYPTO Error] Unable to authenticate the message. EVP_DecryptFinal_ex function returns an error -> Function deserialize_SecureDataTag [planner_server-7] 2021-03-16 16:55:38.728 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.728 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.729 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.729 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [lifecycle_manager-5] 2021-03-16 16:55:38.728 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.735 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [robot_state_publisher-1] 2021-03-16 16:55:38.735 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] [INFO] [1615938938.737344503] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-6] [INFO] [1615938938.739161337] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [planner_server-7] 2021-03-16 16:55:38.742 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.742 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.742 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [lifecycle_manager-5] 2021-03-16 16:55:38.743 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [lifecycle_manager-5] 2021-03-16 16:55:38.743 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [bt_navigator-9] 2021-03-16 16:55:38.744 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.745 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.745 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.747 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.747 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:38.750 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.750 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.750 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.750 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [planner_server-7] 2021-03-16 16:55:38.751 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [controller_server-6] [INFO] [1615938938.754650340] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-6] [INFO] [1615938938.755696662] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker [robot_state_publisher-1] 2021-03-16 16:55:38.755 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] [INFO] [1615938938.760200999] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-6] [INFO] [1615938938.760972137] [controller_server]: Setting transform_tolerance to 0.200000 [robot_state_publisher-1] 2021-03-16 16:55:38.764 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.765 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:38.766 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] 2021-03-16 16:55:38.778 [SECURITY_CRYPTO Error] Not valid SecureDataTag submessage id -> Function decode_datawriter_submessage [robot_state_publisher-1] 2021-03-16 16:55:38.778 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:38.778 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] [INFO] [1615938938.792163148] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-6] [INFO] [1615938938.794286402] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.794822402] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-6] [INFO] [1615938938.795876521] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.796147868] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-6] [INFO] [1615938938.796276749] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.796334220] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-6] [INFO] [1615938938.798139890] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.798615339] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [planner_server-7] 2021-03-16 16:55:38.799 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [amcl-4] 2021-03-16 16:55:38.799 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] [INFO] [1615938938.800378663] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.801004153] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-6] [INFO] [1615938938.801927485] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.802549274] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-6] [INFO] [1615938938.803516323] [controller_server]: Critic plugin initialized [controller_server-6] [INFO] [1615938938.803629426] [controller_server]: Controller Server has FollowPath controllers available. [rviz2-2] 2021-03-16 16:55:38.806 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:38.811 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [ERROR] [recoveries_server-8]: process has died [pid 1629, exit code -11, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmpobpwt5ue -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [map_server-3]: process has died [pid 1619, exit code -6, cmd '/opt/ros/foxy/lib/nav2_map_server/map_server --ros-args -r __node:=map_server --params-file /tmp/tmphc1gwefy -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [lifecycle_manager-11]: process has died [pid 1635, exit code -11, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_en7oza9_ --params-file /tmp/launch_params_h_ot2g4h --params-file /tmp/launch_params_2syy83_0']. [ERROR] [bt_navigator-9]: process has died [pid 1631, exit code -11, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmp_1w9vox8 -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [amcl-4]: process has died [pid 1621, exit code -11, cmd '/opt/ros/foxy/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmp9wlhvr3u -r /tf:=tf -r /tf_static:=tf_static']. [rviz2-2] [INFO] [1615938939.265007078] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1615938939.265225141] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1615938939.415699884] [rviz2]: Stereo is NOT SUPPORTED [robot_state_publisher-1] 2021-03-16 16:55:39.448 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:39.458 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:39.458 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:39.458 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [controller_server-6] 2021-03-16 16:55:39.467 [SECURITY Error] Error decoding encoded payload () -> Function decode_serialized_payload [robot_state_publisher-1] 2021-03-16 16:55:39.495 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:39.495 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:39.499 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.499 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.500 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:39.500 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:39.500 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:39.502 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [planner_server-7] 2021-03-16 16:55:39.503 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:39.503 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.503 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:39.505 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.510 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [robot_state_publisher-1] 2021-03-16 16:55:39.510 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.511 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:39.514 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:39.518 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.519 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [lifecycle_manager-5] 2021-03-16 16:55:39.523 [SECURITY_CRYPTO Error] Not enough memory to deserialize SecureDataTag length -> Function decode_rtps_message [waypoint_follower-10] 2021-03-16 16:55:39.535 [SECURITY_CRYPTO Error] Not valid SecureDataHeader submessage id -> Function decode_rtps_message [rviz2-2] [WARN] [1615938939.610710332] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-2] [WARN] [1615938939.634312144] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-2] [WARN] [1615938939.662063819] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [ERROR] [planner_server-7]: process has died [pid 1627, exit code -11, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmp8qk5tipf -r /tf:=tf -r /tf_static:=tf_static']. [rviz2-2] [INFO] [1615938939.698829392] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... [ERROR] [controller_server-6]: process has died [pid 1625, exit code -11, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmp8n3w9kq6 -r /tf:=tf -r /tf_static:=tf_static']. [ERROR] [waypoint_follower-10]: process has died [pid 1633, exit code -11, cmd '/opt/ros/foxy/lib/nav2_waypoint_follower/waypoint_follower --ros-args -r __node:=waypoint_follower --params-file /tmp/tmp4lr6d23h -r /tf:=tf -r /tf_static:=tf_static']. [rviz2-2] [INFO] [1615938940.699127998] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... [rviz2-2] [INFO] [1615938941.699518268] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... [rviz2-2] [INFO] [1615938942.699835648] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service... ```

So the size of the enclave permission.p7s files (2.8K for the root enclave) in not the issue here.

ruffsl commented 3 years ago

Foxwing RMW issues by ticking upstream repos.