Hi,
I have ROS2 Foxy and installed Gazebo 11, Navigator2 (and Cartographer) on Dell Alienware laptop with Ubuntu 20.04.
I follow the steps as per the git hub GitHub - husarion/rosbot_description at foxy
I run: ros2 launch rosbot_description navigation_demo_pro.launch.py
The simulator does not run. I see timeout errors in the terminal. The output is pasted below, I hope you can provide guidance for how fix. Thank you, and kind regards,
Jon.
local@local-Alienware-m15:~/ros_ws$ ros2 launch rosbot_description navigation_demo_pro.launch.py
[INFO] [launch]: All log files can be found below /home/local/.ros/log/2021-10-14-10-27-54-122125-local-Alienware-m15-85334
[INFO] [launch]: Default logging verbosity is set to INFO
/home/local/ros_ws/install/rplidar_ros/share/rplidar_ros/launch/rplidar_a3.launch.py:7: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
Node(
/home/local/ros_ws/install/rplidar_ros/share/rplidar_ros/launch/rplidar_a3.launch.py:7: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
Node(
[INFO] [rplidar_composition-1]: process started with pid [85336]
[INFO] [static_transform_publisher-2]: process started with pid [85338]
[INFO] [rosserial_node.py-3]: process started with pid [85340]
[INFO] [rosbot_tf-4]: process started with pid [85342]
[INFO] [static_transform_publisher-5]: process started with pid [85344]
[INFO] [static_transform_publisher-6]: process started with pid [85346]
[INFO] [static_transform_publisher-7]: process started with pid [85348]
[INFO] [static_transform_publisher-8]: process started with pid [85356]
[INFO] [static_transform_publisher-9]: process started with pid [85358]
[INFO] [static_transform_publisher-10]: process started with pid [85360]
[INFO] [controller_server-11]: process started with pid [85362]
[INFO] [planner_server-12]: process started with pid [85364]
[INFO] [recoveries_server-13]: process started with pid [85366]
[INFO] [bt_navigator-14]: process started with pid [85371]
[INFO] [waypoint_follower-15]: process started with pid [85374]
[INFO] [lifecycle_manager-16]: process started with pid [85378]
[INFO] [sync_slam_toolbox_node-17]: process started with pid [85382]
[static_transform_publisher-5] [INFO] [1634203674.510909431] [static_transform_publisher_jH4Hvp7u9H8WC9N4]: Spinning until killed publishing transform from 'base_link' to 'front_left_wheel'
[static_transform_publisher-2] [INFO] [1634203674.512599362] [static_transform_publisher_NMbeD0ucgRezBV9Y]: Spinning until killed publishing transform from 'base_link' to 'laser'
[static_transform_publisher-6] [INFO] [1634203674.515164299] [static_transform_publisher_Bd0dRNS61C9YDoT2]: Spinning until killed publishing transform from 'base_link' to 'front_right_wheel'
[static_transform_publisher-8] [INFO] [1634203674.515593085] [static_transform_publisher_TVIURopRY8RluBIe]: Spinning until killed publishing transform from 'base_link' to 'rear_right_wheel'
[static_transform_publisher-10] [INFO] [1634203674.519904992] [static_transform_publisher_VY3QWzw0SkfPbTsJ]: Spinning until killed publishing transform from 'base_link' to 'camera_link'
[controller_server-11] [INFO] [1634203674.527736643] [controller_server]:
[controller_server-11] controller_server lifecycle node launched.
[controller_server-11] Waiting on external lifecycle transitions to activate
[controller_server-11] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-11] [INFO] [1634203674.530333296] [controller_server]: Creating controller server
[lifecycle_manager-16] [INFO] [1634203674.535024594] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-16] [INFO] [1634203674.541814888] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[rplidar_composition-1] [INFO] [1634203674.544091670] [rplidar_composition]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.10.0'
[rplidar_composition-1] [ERROR] [1634203674.544204666] [rplidar_composition]: Error, cannot bind to the specified serial port '/dev/ttyUSB0'.
[lifecycle_manager-16] [INFO] [1634203674.552501620] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-16] [INFO] [1634203674.552537095] [lifecycle_manager_navigation]: Configuring controller_server
[bt_navigator-14] [INFO] [1634203674.558054926] [bt_navigator]:
[bt_navigator-14] bt_navigator lifecycle node launched.
[bt_navigator-14] Waiting on external lifecycle transitions to activate
[bt_navigator-14] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-14] [INFO] [1634203674.558202778] [bt_navigator]: Creating
[controller_server-11] [INFO] [1634203674.560115800] [local_costmap.local_costmap]:
[controller_server-11] local_costmap lifecycle node launched.
[controller_server-11] Waiting on external lifecycle transitions to activate
[controller_server-11] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-11] [INFO] [1634203674.560593007] [local_costmap.local_costmap]: Creating Costmap
[static_transform_publisher-9] [INFO] [1634203674.572107752] [static_transform_publisher_nK5z1sdNQr1l5Tbw]: Spinning until killed publishing transform from 'base_link' to 'top'
[recoveries_server-13] [INFO] [1634203674.578789619] [recoveries_server]:
[recoveries_server-13] recoveries_server lifecycle node launched.
[recoveries_server-13] Waiting on external lifecycle transitions to activate
[recoveries_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1634203674.582946663] [planner_server]:
[planner_server-12] planner_server lifecycle node launched.
[planner_server-12] Waiting on external lifecycle transitions to activate
[planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[rosserial_node.py-3] Traceback (most recent call last):
[rosserial_node.py-3] File "/home/local/ros_ws/install/rosbot_description/lib/rosbot_description/rosserial_node.py", line 4, in <module>
[rosserial_node.py-3] from serialclient import SerialClient
[rosserial_node.py-3] File "/home/local/ros_ws/src/rosbot_description/scripts/serialclient.py", line 48, in <module>
[rosserial_node.py-3] from serial import Serial, SerialException, SerialTimeoutException
[rosserial_node.py-3] ModuleNotFoundError: No module named 'serial'
[planner_server-12] [INFO] [1634203674.585399675] [planner_server]: Creating
[static_transform_publisher-7] [INFO] [1634203674.595083136] [static_transform_publisher_u17MDHLZhOZiaOIk]: Spinning until killed publishing transform from 'base_link' to 'rear_left_wheel'
[sync_slam_toolbox_node-17] [INFO] [1634203674.599141844] [slam_toolbox]: Node using stack size 40000000
[controller_server-11] [INFO] [1634203674.600448362] [controller_server]: Configuring controller interface
[controller_server-11] [INFO] [1634203674.600524831] [controller_server]: Controller frequency set to 10.0000Hz
[controller_server-11] [INFO] [1634203674.600544969] [local_costmap.local_costmap]: Configuring
[controller_server-11] [INFO] [1634203674.613817326] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-11] [INFO] [1634203674.617874143] [local_costmap.local_costmap]: Subscribed to Topics: scan
[planner_server-12] [INFO] [1634203674.620699126] [global_costmap.global_costmap]:
[planner_server-12] global_costmap lifecycle node launched.
[planner_server-12] Waiting on external lifecycle transitions to activate
[planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1634203674.621371547] [global_costmap.global_costmap]: Creating Costmap
[controller_server-11] [INFO] [1634203674.624946468] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-11] [INFO] [1634203674.624991737] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-11] [INFO] [1634203674.625344773] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[waypoint_follower-15] [INFO] [1634203674.626400283] [waypoint_follower]:
[waypoint_follower-15] waypoint_follower lifecycle node launched.
[waypoint_follower-15] Waiting on external lifecycle transitions to activate
[waypoint_follower-15] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-15] [INFO] [1634203674.626854448] [waypoint_follower]: Creating
[controller_server-11] [INFO] [1634203674.630940904] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-11] [INFO] [1634203674.631746222] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-11] [INFO] [1634203674.638078165] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-11] [INFO] [1634203674.639260162] [controller_server]: Setting transform_tolerance to 1.000000
[ERROR] [rosserial_node.py-3]: process has died [pid 85340, exit code 1, cmd '/home/local/ros_ws/install/rosbot_description/lib/rosbot_description/rosserial_node.py --ros-args --params-file /home/local/ros_ws/install/rosbot_description/share/rosbot_description/config/rosserial_pro.yaml'].
[controller_server-11] [INFO] [1634203674.662499124] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-11] [INFO] [1634203674.663334557] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.663613938] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-11] [INFO] [1634203674.664633313] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.665091156] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-11] [INFO] [1634203674.665800132] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.666026813] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-11] [INFO] [1634203674.666963237] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.667283366] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-11] [INFO] [1634203674.668166134] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.668504177] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-11] [INFO] [1634203674.668928183] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.669097941] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-11] [INFO] [1634203674.669299936] [controller_server]: Critic plugin initialized
[controller_server-11] [INFO] [1634203674.669318265] [controller_server]: Controller Server has FollowPath controllers available.
[sync_slam_toolbox_node-17] [INFO] [1634203674.673436967] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[sync_slam_toolbox_node-17] [INFO] [1634203674.673632047] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[lifecycle_manager-16] [INFO] [1634203674.674946125] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-12] [INFO] [1634203674.675191330] [planner_server]: Configuring
[planner_server-12] [INFO] [1634203674.675222115] [global_costmap.global_costmap]: Configuring
[planner_server-12] [INFO] [1634203674.678094830] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-12] [INFO] [1634203674.680469312] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-12] [INFO] [1634203674.681110923] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-12] [INFO] [1634203674.681143192] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-12] [INFO] [1634203674.681694550] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-12] [INFO] [1634203674.684503202] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-12] [INFO] [1634203674.684534110] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-12] [INFO] [1634203674.685377214] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-12] [INFO] [1634203674.691517848] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-12] [INFO] [1634203674.691554874] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-12] [INFO] [1634203674.696655512] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-16] [INFO] [1634203674.700972471] [lifecycle_manager_navigation]: Configuring recoveries_server
[recoveries_server-13] [INFO] [1634203674.701198718] [recoveries_server]: Configuring
[recoveries_server-13] [INFO] [1634203674.704612342] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-13] [INFO] [1634203674.705524032] [recoveries_server]: Configuring spin
[recoveries_server-13] [INFO] [1634203674.709299493] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-13] [INFO] [1634203674.710144483] [recoveries_server]: Configuring backup
[recoveries_server-13] [INFO] [1634203674.713487238] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-13] [INFO] [1634203674.714192003] [recoveries_server]: Configuring wait
[lifecycle_manager-16] [INFO] [1634203674.717836076] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-14] [INFO] [1634203674.718013820] [bt_navigator]: Configuring
[bt_navigator-14] [INFO] [1634203674.736561972] [bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-14] [INFO] [1634203674.736738297] [bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-14] [INFO] [1634203674.737369276] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-14] [INFO] [1634203674.737439395] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-14] [INFO] [1634203674.740206006] [bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-14] [INFO] [1634203674.740328072] [bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-14] [INFO] [1634203674.740980432] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-14] [INFO] [1634203674.741047104] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-14] [INFO] [1634203674.741735445] [bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-14] [INFO] [1634203674.741806038] [bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-14] [INFO] [1634203674.742411052] [bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-14] [INFO] [1634203674.742514877] [bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-14] [INFO] [1634203674.745279464] [bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-14] [INFO] [1634203674.745405974] [bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-14] [INFO] [1634203674.748141627] [bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-14] [INFO] [1634203674.748303727] [bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[lifecycle_manager-16] [INFO] [1634203674.749343125] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-15] [INFO] [1634203674.749509504] [waypoint_follower]: Configuring
[lifecycle_manager-16] [INFO] [1634203674.760366901] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-11] [INFO] [1634203674.760532047] [controller_server]: Activating
[controller_server-11] [INFO] [1634203674.760554428] [local_costmap.local_costmap]: Activating
[controller_server-11] [INFO] [1634203674.760565371] [local_costmap.local_costmap]: Checking transform
[controller_server-11] [INFO] [1634203674.760592944] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-11] [INFO] [1634203675.260999109] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203675.761037238] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203676.261058793] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203676.761063052] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203677.261001901] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203677.760699972] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203678.260748353] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203678.760762360] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203679.260952932] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203679.761053456] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203680.261057723] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203680.761027260] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203681.261062674] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203681.760761594] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
[controller_server-11] [INFO] [1634203682.261046487] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[waypoint_follower-15] [INFO] [1634203682.484221410] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-15] [INFO] [1634203682.487131520] [waypoint_follower]: Destroying
[INFO] [planner_server-12]: process has finished cleanly [pid 85364]
[INFO] [controller_server-11]: process has finished cleanly [pid 85362]
[INFO] [recoveries_server-13]: process has finished cleanly [pid 85366]
[INFO] [rosbot_tf-4]: process has finished cleanly [pid 85342]
[INFO] [static_transform_publisher-5]: process has finished cleanly [pid 85344]
[INFO] [static_transform_publisher-10]: process has finished cleanly [pid 85360]
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 85338]
[INFO] [static_transform_publisher-9]: process has finished cleanly [pid 85358]
[INFO] [sync_slam_toolbox_node-17]: process has finished cleanly [pid 85382]
[INFO] [static_transform_publisher-6]: process has finished cleanly [pid 85346]
[INFO] [static_transform_publisher-7]: process has finished cleanly [pid 85348]
[INFO] [static_transform_publisher-8]: process has finished cleanly [pid 85356]
[bt_navigator-14] [INFO] [1634203682.484230659] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-14] [INFO] [1634203682.487622932] [bt_navigator]: Destroying
[INFO] [waypoint_follower-15]: process has finished cleanly [pid 85374]
[planner_server-12] [INFO] [1634203682.484253610] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-13] [INFO] [1634203682.484262425] [rclcpp]: signal_handler(signal_value=2)
[sync_slam_toolbox_node-17] [INFO] [1634203682.484262133] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-9] [INFO] [1634203682.484307599] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-6] [INFO] [1634203682.484330077] [rclcpp]: signal_handler(signal_value=2)
[INFO] [bt_navigator-14]: process has finished cleanly [pid 85371]
[static_transform_publisher-10] [INFO] [1634203682.484267603] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-16] [INFO] [1634203682.484344836] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-16] [ERROR] [1634203682.486818843] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-16] [ERROR] [1634203682.486862786] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-16] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[lifecycle_manager-16] what(): Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/guard_condition.c:67
[static_transform_publisher-2] [INFO] [1634203682.484384999] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-7] [INFO] [1634203682.484407582] [rclcpp]: signal_handler(signal_value=2)
[rosbot_tf-4] [INFO] [1634203682.484437945] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-8] [INFO] [1634203682.484522937] [rclcpp]: signal_handler(signal_value=2)
[rplidar_composition-1] [INFO] [1634203682.484539331] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-5] [INFO] [1634203682.484748412] [rclcpp]: signal_handler(signal_value=2)
[controller_server-11] [INFO] [1634203682.484253289] [rclcpp]: signal_handler(signal_value=2)
[controller_server-11] [INFO] [1634203682.488414840] [local_costmap.local_costmap]: start
[controller_server-11] [ERROR] [1634203682.488850781] []: Caught exception in callback for transition 13
[controller_server-11] [ERROR] [1634203682.488895587] []: Original error: could not create subscription: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/node.c:441
[controller_server-11] [ERROR] [1634203682.488954304] []: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/publisher.c:423, at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.11/src/rcl_lifecycle.c:367)
[bt_navigator-14] [PublisherZMQ] Server quitting.
[bt_navigator-14] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-14] [PublisherZMQ] Publisher quitting.
[bt_navigator-14] [PublisherZMQ] just died. Exeption Context was terminated
[ERROR] [rplidar_composition-1]: process has died [pid 85336, exit code -11, cmd '/home/local/ros_ws/install/rplidar_ros/lib/rplidar_ros/rplidar_composition --ros-args -r __node:=rplidar_composition -r __node:=rplidar_composition --params-file /tmp/launch_params_nqg2tyuz'].
[ERROR] [lifecycle_manager-16]: process has died [pid 85378, exit code -6, cmd '/opt/ros/foxy/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_yp5n2yd6 --params-file /tmp/launch_params_3pbz7zib --params-file /tmp/launch_params_9azqmzq6'].