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rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
http://wiki.ros.org/teb_local_planner
BSD 3-Clause "New" or "Revised" License
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nlamprian/fix_duplicate_node #411

Open nlamprian opened 1 year ago

nlamprian commented 1 year ago

There is a duplicate node created for the costmap converter, as indicated by this warning.

[controller_server-15] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.

It can be verified with

$ ros2 node list | ag controller
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/controller_server_node
/controller_server_node

With this change, it now gives

$ ros2 node list | ag controller
/controller_server_node
/controller_server_node_FollowPath_costmap_converter_rclcpp_node

Solution taken from the navigation2.