malfunction of navigation2 execution by physics robot turtlebot4 lite

Robot Model

Turtlebot4 Lite
ROS distro

Humble
Networking Configuration

Simple Discovery
OS

Ubuntu 22.04
Built from source or installed?

Installed
Package version

moi@rpi4b-u2204d-turtlebot4:~$ dpkg -s ros-humble-turtlebot4-python-tutorials Package: ros-humble-turtlebot4-python-tutorials Status: install ok installed Priority: optional Section: misc Installed-Size: 80 Maintainer: rkreinin rkreinin@clearpathrobotics.com Architecture: arm64 Version: 1.0.1-1jammy.20240220.180339 Depends: ros-humble-irobot-create-msgs, ros-humble-rclpy, ros-humble-turtlebot4-navigation, ros-humble-ros-workspace Description: TurtleBot 4 Python Tutorials moi@rpi4b-u2204d-turtlebot4:~$
Expected behaviour

path programming to a point 3m away and back to the station the robot executes the path on zll the recorded points
Actual behaviour

running the proposed 'create_path example' (but the other examples don't work better) undock the robot moves in front of its station doxk
Error messages

[code]
moi@rpi4b-u2204d-turtlebot4:~$ ros2 launch turtlebot4_navigation localization.launch.py map:=/home/moi/ma_maison3.yaml
[...]
[amcl-2] [INFO] [1710306383.617388827] [amcl]: initialPoseReceived
[amcl-2] [WARN] [1710306383.623528453] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1710306383.623410 but the latest data is at time 1710306383.325356, when looking up transform from frame [base_link] to frame [odom])
[amcl-2] [INFO] [1710306383.623741062] [amcl]: Setting pose (1710306383.623738): 1.299 -3.223 1.477
[amcl-2] [INFO] [1710306392.703177817] [amcl]: initialPoseReceived
[amcl-2] [WARN] [1710306392.703493628] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1710306392.703358 but the latest data is at time 1710306392.478390, when looking up transform from frame [base_link] to frame [odom])
[amcl-2] [INFO] [1710306392.703594664] [amcl]: Setting pose (1710306392.703590): -0.507 -0.313 0.514
[amcl-2] [INFO] [1710306405.308927852] [amcl]: initialPoseReceived
[amcl-2] [WARN] [1710306405.309232775] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1710306405.309103 but the latest data is at time 1710306405.230377, when looking up transform from frame [base_link] to frame [odom])
[amcl-2] [INFO] [1710306405.309330275] [amcl]: Setting pose (1710306405.309327): 0.000 0.000 0.000
[/code]

[code]
moi@rpi4b-u2204d-turtlebot4:~$ ros2 launch turtlebot4_navigation nav2.launch.py
[...]
[planner_server-3] [INFO] [1710306367.472353487] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.039 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306367.738841373] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.298 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306367.739384664] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.298 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306367.864554712] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.435 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306367.867491406] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.435 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306368.001355704] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.556 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306368.008430617] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.556 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306368.133620165] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.691 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306368.394995915] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306367.947 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306368.525250562] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.121 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306368.526836121] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.121 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306368.650909458] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.221 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306368.662282793] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.221 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306368.820861574] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.351 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306368.928126758] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.481 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306368.928861566] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.481 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.051410955] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.619 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306369.180892462] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.619 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.193830799] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.747 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306369.255444481] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.747 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306369.320479686] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.868 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.427214301] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306368.868 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306369.443124259] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.003 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.443671031] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.003 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.571608942] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.142 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306369.598067834] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.142 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306369.707615367] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.265 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.702059717] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.265 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306369.835042523] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.398 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.001124287] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.398 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306370.066537321] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.531 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.098468235] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.735 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.371788128] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306369.925 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.536694496] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.067 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.680560364] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.218 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306370.756656128] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.321 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.763988816] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.321 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306370.885727824] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.456 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306371.017880971] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.578 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306371.277509145] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.846 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306371.292222725] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306370.846 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306371.545153242] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.155 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306371.546576321] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.155 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306371.677318204] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.239 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306371.816601172] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.363 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306371.828841128] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.239 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306371.893105747] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.363 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306371.939797925] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.504 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306372.106954586] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.504 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306372.110348831] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.638 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306372.200032982] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306371.762 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306372.981961048] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306372.553 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306372.982233638] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306372.553 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306373.122655595] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306372.679 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306373.257284422] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306372.811 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306373.516336546] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306373.069 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306373.649127929] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306373.210 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306373.781712294] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306373.339 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306373.906809344] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306373.462 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306375.471801873] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306375.034 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306375.614412160] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306375.169 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306383.659958212] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-3] [INFO] [1710306383.712614258] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[planner_server-3] [INFO] [1710306384.522642738] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306384.086 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306384.522803218] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306384.086 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306384.792445073] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306384.356 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[planner_server-3] [INFO] [1710306384.796307406] [global_costmap.global_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1710306384.356 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1710306392.754901927] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-3] [INFO] [1710306392.761612159] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[controller_server-1] [INFO] [1710306405.221187886] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-3] [INFO] [1710306405.255510258] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[waypoint_follower-6] [INFO] [1710306415.220882240] [waypoint_follower]: Received follow waypoint request with 2 waypoints.
[bt_navigator-5] [INFO] [1710306415.253080392] [bt_navigator]: Begin navigating from current location (-0.17, -0.01) to (1.30, -3.22)
[bt_navigator-5] [WARN] [1710306415.278763236] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.287522836] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for compute_path_to_pose
[planner_server-3] [INFO] [1710306415.289610872] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1710306415.302178417] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.310565391] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[controller_server-1] [INFO] [1710306415.311298754] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-3] [INFO] [1710306415.325207657] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1710306415.376566975] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[bt_navigator-5] [WARN] [1710306415.453308270] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.453456250] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for spin
[behavior_server-4] [INFO] [1710306415.471936941] [behavior_server]: Running spin
[behavior_server-4] [INFO] [1710306415.473934885] [behavior_server]: Turning 1.57 for spin behavior.
[bt_navigator-5] [WARN] [1710306415.491772675] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[behavior_server-4] [INFO] [1710306415.500734329] [behavior_server]: Running wait
[bt_navigator-5] [WARN] [1710306415.534731593] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.585266956] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.646872268] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.781040526] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.887458737] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306415.980433134] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.111227091] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.156010473] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.176821735] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.318747306] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.414642953] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.568067191] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.590020312] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.637194874] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.671013510] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.789722936] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306416.925644603] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.133342612] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[behavior_server-4] [INFO] [1710306417.275310850] [behavior_server]: spin completed successfully
[bt_navigator-5] [WARN] [1710306417.316730024] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.351359911] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.453981344] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.595039647] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.642353948] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.836469663] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.852131308] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306417.903487145] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.195508894] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.340139921] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.389386834] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.401687752] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.463597320] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.539910748] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.594940235] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.692346681] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.738768806] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.753649699] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.793469129] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.819183436] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.891342405] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.929644868] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306418.970180235] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.160478394] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.252963185] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.270716661] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.281427928] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.537287805] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.551946348] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.618009191] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.656859797] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.697745346] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.708920238] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.730221717] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.798997829] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.891926467] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.920042177] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306419.956576101] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.021387919] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [WARN] [1710306420.028747163] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.062942202] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.072935680] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.121413674] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.171404764] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [WARN] [1710306420.212379812] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.217375560] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.221412410] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [WARN] [1710306420.223939793] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.279426460] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [WARN] [1710306420.335987895] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.354959211] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.371349275] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.421871656] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [WARN] [1710306420.432173483] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.452343621] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.471431122] [waypoint_follower]: Processing waypoint 0...
[behavior_server-4] [INFO] [1710306420.501300796] [behavior_server]: wait completed successfully
[bt_navigator-5] [WARN] [1710306420.510826722] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[waypoint_follower-6] [INFO] [1710306420.530890806] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.571325600] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [WARN] [1710306420.594655356] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.594793465] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for compute_path_to_pose
[planner_server-3] [INFO] [1710306420.595645568] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1710306420.616800808] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[bt_navigator-5] [WARN] [1710306420.662683494] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.662839678] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for backup
[waypoint_follower-6] [INFO] [1710306420.621370227] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.671415169] [waypoint_follower]: Processing waypoint 0...
[controller_server-1] [INFO] [1710306420.663717169] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[bt_navigator-5] [WARN] [1710306420.689702825] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.689914805] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to local_costmap/clear_entirely_local_costmap.
[behavior_server-4] [INFO] [1710306420.691254773] [behavior_server]: Running backup
[behavior_server-4] [INFO] [1710306420.725460257] [behavior_server]: Running spin
[bt_navigator-5] [WARN] [1710306420.726245620] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.726413266] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for spin
[waypoint_follower-6] [INFO] [1710306420.729109092] [waypoint_follower]: Processing waypoint 0...
[behavior_server-4] [INFO] [1710306420.737765323] [behavior_server]: Turning 1.57 for spin behavior.
[behavior_server-4] [INFO] [1710306420.752933140] [behavior_server]: Running wait
[bt_navigator-5] [WARN] [1710306420.759329670] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306420.759597779] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for wait
[waypoint_follower-6] [INFO] [1710306420.771448979] [waypoint_follower]: Processing waypoint 0...
[bt_navigator-5] [ERROR] [1710306420.772541746] [bt_navigator]: Goal failed
[bt_navigator-5] [WARN] [1710306420.772785707] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[waypoint_follower-6] [INFO] [1710306420.828414687] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.872084080] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.921422843] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306420.972339314] [waypoint_follower]: Processing waypoint 0...
[waypoint_follower-6] [INFO] [1710306421.371488934] [waypoint_follower]: Failed to process waypoint 0, moving to next.
[bt_navigator-5] [INFO] [1710306421.442375508] [bt_navigator]: Begin navigating from current location (-0.20, -0.02) to (-0.51, -0.31)
[bt_navigator-5] [WARN] [1710306421.479154523] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306421.479340188] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for compute_path_to_pose
[planner_server-3] [INFO] [1710306421.481248484] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[bt_navigator-5] [WARN] [1710306421.502209503] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306421.502337113] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[bt_navigator-5] [WARN] [1710306421.520272255] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306421.527262743] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to local_costmap/clear_entirely_local_costmap.
[bt_navigator-5] [WARN] [1710306421.556034186] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306421.556256110] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for spin
[bt_navigator-5] [WARN] [1710306421.580931816] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for wait
[controller_server-1] [INFO] [1710306421.509690375] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[bt_navigator-5] [WARN] [1710306421.591903247] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [WARN] [1710306421.602200814] [bt_navigator_navigate_to_pose_rclcpp_node]: Timed out while waiting for action server to acknowledge goal request for backup
[bt_navigator-5] [WARN] [1710306421.602815604] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[bt_navigator-5] [ERROR] [1710306421.602938529] [bt_navigator]: Goal failed
[bt_navigator-5] [WARN] [1710306421.603033139] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[behavior_server-4] [ERROR] [1710306421.638149114] [behavior_server]: Received a preemption request for spin, however feature is currently not implemented. Aborting and stopping.
[behavior_server-4] [WARN] [1710306421.638594184] [behavior_server]: [spin] [ActionServer] Aborting handle.
[behavior_server-4] [INFO] [1710306421.639005717] [behavior_server]: Running spin
[behavior_server-4] [INFO] [1710306421.639207123] [behavior_server]: Turning 1.57 for spin behavior.
[behavior_server-4] [ERROR] [1710306421.653316005] [behavior_server]: Received a preemption request for wait, however feature is currently not implemented. Aborting and stopping.
[behavior_server-4] [WARN] [1710306421.653767963] [behavior_server]: [wait] [ActionServer] Aborting handle.
[behavior_server-4] [INFO] [1710306421.654100812] [behavior_server]: Running wait
[behavior_server-4] [ERROR] [1710306421.695328524] [behavior_server]: Received a preemption request for backup, however feature is currently not implemented. Aborting and stopping.
[behavior_server-4] [WARN] [1710306421.696021795] [behavior_server]: [backup] [ActionServer] Aborting handle.
[behavior_server-4] [INFO] [1710306421.696453736] [behavior_server]: Running backup
[waypoint_follower-6] [INFO] [1710306422.021530295] [waypoint_follower]: Failed to process waypoint 1, moving to next.
[waypoint_follower-6] [INFO] [1710306422.021736478] [waypoint_follower]: Completed all 2 waypoints requested.
[behavior_server-4] [WARN] [1710306422.697542442] [behavior_server]: Collision Ahead - Exiting DriveOnHeading
[behavior_server-4] [WARN] [1710306422.697775162] [behavior_server]: backup failed
[behavior_server-4] [WARN] [1710306422.697844346] [behavior_server]: [backup] [ActionServer] Aborting handle.
[behavior_server-4] [WARN] [1710306422.740875726] [behavior_server]: Collision Ahead - Exiting Spin
[behavior_server-4] [WARN] [1710306422.741008614] [behavior_server]: spin failed
[behavior_server-4] [WARN] [1710306422.741065317] [behavior_server]: [spin] [ActionServer] Aborting handle.
[behavior_server-4] [INFO] [1710306426.654615149] [behavior_server]: wait completed successfully
[/code]

[code]
moi@rpi4b-u2204d-turtlebot4:~$ ros2 launch turtlebot4_viz view_robot.launch.py
[...]
[rviz2-1] [INFO] [1710306383.614159173] [rviz2]: Setting estimate pose: Frame:map, Position(1.29908, -3.22257, 0), Orientation(0, 0, 0.673241, 0.739423) = Angle: 1.47717
[rviz2-1] [INFO] [1710306392.695215486] [rviz2]: Setting estimate pose: Frame:map, Position(-0.507419, -0.312992, 0), Orientation(0, 0, 0.253961, 0.967214) = Angle: 0.513547
[/code]

[code]
moi@rpi4b-u2204d-turtlebot4:~$ ros2 run turtlebot4_python_tutorials create_path
[INFO] [1710306375.147978283] [basic_navigator]: Creating a path. Press Enter to finish.
[INFO] [1710306375.155470211] [basic_navigator]: Use the "2D Pose Estimate" tool in Rviz to add a pose to the path.
[INFO] [1710306383.626848643] [basic_navigator]: Pose added.
[INFO] [1710306392.729970354] [basic_navigator]: Pose added.

[INFO] [1710306398.404779391] [basic_navigator]: Path created.
[INFO] [1710306398.418528906] [basic_navigator]: Pose 0 [x,y]=[1.299,-3.223][x,y,z,w]=[0.000,0.000,0.673,0.739]
[INFO] [1710306398.433175042] [basic_navigator]: Pose 1 [x,y]=[-0.507,-0.313][x,y,z,w]=[0.000,0.000,0.254,0.967]
[INFO] [1710306405.292524122] [basic_navigator]: Publishing Initial Pose
[INFO] [1710306409.562590580] [basic_navigator]: Nav2 is ready for use!
[INFO] [1710306409.568317358] [basic_navigator]: Undocking...
[INFO] [1710306415.130478503] [basic_navigator]: Undock succeeded
[INFO] [1710306415.183176549] [basic_navigator]: Following 2 goals....
[INFO] [1710306422.112167993] [basic_navigator]: Docking...
[INFO] [1710306453.463245847] [basic_navigator]: Dock succeeded
moi@rpi4b-u2204d-turtlebot4:~$
[/code]
To Reproduce

see errors messges
Other notes

my tutlebot4 lite robot is a homemade assembly of a create3 with a raspberrypi 4B 8GB, a rplidar a1m8 and an OAK D Lite camera I took out and fanned the raspberry pi by placing it on the back of the camera. CPU temperature 50/55°C for convenience the last tests were executed with an Ubuntu 22.04 desktop but the behavior was the same with Ubuntu 22.04 server. The wifi does not show any particular anomaly
The choice of testing with create_path is to not resort to any package compilation
turtlebot / turtlebot4_tutorials
