When I run the ros2 launch rosbot_description rosbot_navigation_sim.launch.py I get the following Error.
I did install ros2 foxy on my Rosbot 2.0
husarion@husarion:~$ ros2 launch rosbot_description rosbot_navigation_sim.launch.py
[INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2021-10-15-13-13-56-359764-husarion-5240
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [5242]
[INFO] [planner_server-2]: process started with pid [5244]
[INFO] [recoveries_server-3]: process started with pid [5246]
[INFO] [bt_navigator-4]: process started with pid [5248]
[INFO] [waypoint_follower-5]: process started with pid [5250]
[INFO] [lifecycle_manager-6]: process started with pid [5252]
[bt_navigator-4] [INFO] [1634296437.512163005] [bt_navigator]:
[bt_navigator-4] bt_navigator lifecycle node launched.
[bt_navigator-4] Waiting on external lifecycle transitions to activate
[bt_navigator-4] See Managed nodes for more information.
[bt_navigator-4] [INFO] [1634296437.538640294] [bt_navigator]: Creating
[recoveries_server-3] [INFO] [1634296437.821071029] [recoveries_server]:
[recoveries_server-3] recoveries_server lifecycle node launched.
[recoveries_server-3] Waiting on external lifecycle transitions to activate
[recoveries_server-3] See Managed nodes for more information.
[planner_server-2] [INFO] [1634296437.861113641] [planner_server]:
[planner_server-2] planner_server lifecycle node launched.
[planner_server-2] Waiting on external lifecycle transitions to activate
[planner_server-2] See Managed nodes for more information.
[lifecycle_manager-6] [INFO] [1634296437.899972918] [lifecycle_manager_navigation]: Creating
[planner_server-2] [INFO] [1634296437.919600752] [planner_server]: Creating
[controller_server-1] [INFO] [1634296437.980358861] [controller_server]:
[controller_server-1] controller_server lifecycle node launched.
[controller_server-1] Waiting on external lifecycle transitions to activate
[controller_server-1] See Managed nodes for more information.
[waypoint_follower-5] [INFO] [1634296438.006106082] [waypoint_follower]:
[waypoint_follower-5] waypoint_follower lifecycle node launched.
[waypoint_follower-5] Waiting on external lifecycle transitions to activate
[waypoint_follower-5] See Managed nodes for more information.
[waypoint_follower-5] [INFO] [1634296438.011888291] [waypoint_follower]: Creating
[controller_server-1] [INFO] [1634296438.035258343] [controller_server]: Creating controller server
[lifecycle_manager-6] [INFO] [1634296438.159974845] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[controller_server-1] [INFO] [1634296438.241073355] [local_costmap.local_costmap]:
[controller_server-1] local_costmap lifecycle node launched.
[controller_server-1] Waiting on external lifecycle transitions to activate
[controller_server-1] See Managed nodes for more information.
[controller_server-1] [INFO] [1634296438.273679657] [local_costmap.local_costmap]: Creating Costmap
[planner_server-2] [INFO] [1634296438.330333578] [global_costmap.global_costmap]:
[planner_server-2] global_costmap lifecycle node launched.
[planner_server-2] Waiting on external lifecycle transitions to activate
[planner_server-2] See Managed nodes for more information.
[lifecycle_manager-6] [INFO] [1634296438.354957841] [lifecycle_manager_navigation]: Starting managed nodes bringup…
[lifecycle_manager-6] [INFO] [1634296438.358896067] [lifecycle_manager_navigation]: Configuring controller_server
[planner_server-2] [INFO] [1634296438.370785704] [global_costmap.global_costmap]: Creating Costmap
[controller_server-1] [INFO] [1634296438.465356785] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1634296438.472618380] [controller_server]: Controller frequency set to 10.0000Hz
[controller_server-1] [INFO] [1634296438.472827221] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1634296438.515413550] [local_costmap.local_costmap]: Using plugin “voxel_layer”
[controller_server-1] [INFO] [1634296438.541981842] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-1] [INFO] [1634296438.615909178] [local_costmap.local_costmap]: Initialized plugin “voxel_layer”
[controller_server-1] [INFO] [1634296438.616094976] [local_costmap.local_costmap]: Using plugin “inflation_layer”
[controller_server-1] [INFO] [1634296438.630312489] [local_costmap.local_costmap]: Initialized plugin “inflation_layer”
[controller_server-1] [INFO] [1634296438.679632186] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1634296438.702373674] [controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1634296438.758744084] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1634296438.787477496] [controller_server]: Setting transform_tolerance to 1.000000
[controller_server-1] [INFO] [1634296439.019873343] [controller_server]: Using critic “RotateToGoal” (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1634296439.029377353] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.030287969] [controller_server]: Using critic “Oscillation” (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1634296439.031881402] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.032551384] [controller_server]: Using critic “BaseObstacle” (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1634296439.033505460] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.034316615] [controller_server]: Using critic “GoalAlign” (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1634296439.035765084] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.036506819] [controller_server]: Using critic “PathAlign” (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1634296439.037984747] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.038862695] [controller_server]: Using critic “PathDist” (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1634296439.077184704] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.082870951] [controller_server]: Using critic “GoalDist” (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1634296439.090998536] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1634296439.091273588] [controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-6] [INFO] [1634296439.189721059] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-2] [INFO] [1634296439.195804862] [planner_server]: Configuring
[planner_server-2] [INFO] [1634296439.196152541] [global_costmap.global_costmap]: Configuring
[planner_server-2] [INFO] [1634296439.274153732] [global_costmap.global_costmap]: Using plugin “static_layer”
[planner_server-2] [INFO] [1634296439.327108894] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-2] [INFO] [1634296439.342058225] [global_costmap.global_costmap]: Initialized plugin “static_layer”
[planner_server-2] [INFO] [1634296439.342649455] [global_costmap.global_costmap]: Using plugin “obstacle_layer”
[planner_server-2] [INFO] [1634296439.362799099] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-2] [INFO] [1634296439.453898638] [global_costmap.global_costmap]: Initialized plugin “obstacle_layer”
[planner_server-2] [INFO] [1634296439.454096395] [global_costmap.global_costmap]: Using plugin “inflation_layer”
[planner_server-2] [INFO] [1634296439.461743296] [global_costmap.global_costmap]: Initialized plugin “inflation_layer”
[planner_server-2] [INFO] [1634296439.581517621] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-2] [INFO] [1634296439.581721503] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-2] [INFO] [1634296439.653105705] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-6] [INFO] [1634296439.722690843] [lifecycle_manager_navigation]: Configuring recoveries_server
[recoveries_server-3] [INFO] [1634296439.730673172] [recoveries_server]: Configuring
[recoveries_server-3] [INFO] [1634296439.815536653] [recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-3] [INFO] [1634296439.826221955] [recoveries_server]: Configuring spin
[recoveries_server-3] [INFO] [1634296439.901410795] [recoveries_server]: Creating recovery plugin backup of type nav2_recoveries/BackUp
[recoveries_server-3] [INFO] [1634296439.921317180] [recoveries_server]: Configuring backup
[recoveries_server-3] [INFO] [1634296439.971568203] [recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-3] [INFO] [1634296439.979652620] [recoveries_server]: Configuring wait
[lifecycle_manager-6] [INFO] [1634296440.059867933] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-4] [INFO] [1634296440.063554733] [bt_navigator]: Configuring
[bt_navigator-4] [INFO] [1634296440.392728786] [bt_navigator_rclcpp_node]: Waiting for “compute_path_to_pose” action server
[bt_navigator-4] [INFO] [1634296440.393781449] [bt_navigator_rclcpp_node]: “ComputePathToPose” BtActionNode initialized
[bt_navigator-4] [INFO] [1634296440.402404302] [bt_navigator_rclcpp_node]: Waiting for “global_costmap/clear_entirely_global_costmap” service
[bt_navigator-4] [INFO] [1634296440.402967239] [bt_navigator_rclcpp_node]: “ClearGlobalCostmap-Context” BtServiceNode initialized
[bt_navigator-4] [INFO] [1634296440.435271072] [bt_navigator_rclcpp_node]: Waiting for “follow_path” action server
[bt_navigator-4] [INFO] [1634296440.441318124] [bt_navigator_rclcpp_node]: “FollowPath” BtActionNode initialized
[bt_navigator-4] [INFO] [1634296440.456259288] [bt_navigator_rclcpp_node]: Waiting for “local_costmap/clear_entirely_local_costmap” service
[bt_navigator-4] [INFO] [1634296440.463487341] [bt_navigator_rclcpp_node]: “ClearLocalCostmap-Context” BtServiceNode initialized
[bt_navigator-4] [INFO] [1634296440.483125675] [bt_navigator_rclcpp_node]: Waiting for “local_costmap/clear_entirely_local_costmap” service
[bt_navigator-4] [INFO] [1634296440.486496297] [bt_navigator_rclcpp_node]: “ClearLocalCostmap-Subtree” BtServiceNode initialized
[bt_navigator-4] [INFO] [1634296440.495905512] [bt_navigator_rclcpp_node]: Waiting for “global_costmap/clear_entirely_global_costmap” service
[bt_navigator-4] [INFO] [1634296440.499094710] [bt_navigator_rclcpp_node]: “ClearGlobalCostmap-Subtree” BtServiceNode initialized
[bt_navigator-4] [INFO] [1634296440.559225423] [bt_navigator_rclcpp_node]: Waiting for “spin” action server
[bt_navigator-4] [INFO] [1634296440.563191650] [bt_navigator_rclcpp_node]: “Spin” BtActionNode initialized
[bt_navigator-4] [INFO] [1634296440.600023188] [bt_navigator_rclcpp_node]: Waiting for “wait” action server
[bt_navigator-4] [INFO] [1634296440.607169571] [bt_navigator_rclcpp_node]: “Wait” BtActionNode initialized
[lifecycle_manager-6] [INFO] [1634296440.644883141] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-5] [INFO] [1634296440.647561905] [waypoint_follower]: Configuring
[lifecycle_manager-6] [INFO] [1634296440.882992073] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1634296440.884431500] [controller_server]: Activating
[controller_server-1] [INFO] [1634296440.884580255] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1634296440.884651424] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1634296440.884895266] [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-1] [INFO] [1634296441.384991285] [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-1] [INFO] [1634296441.885003594] [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-1] [INFO] [1634296442.384956111] [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-1] [INFO] [1634296442.884989423] [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-1] [INFO] [1634296443.384971403] [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
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[recoveries_server-3] [INFO] [1634296443.805432843] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-4] [INFO] [1634296443.805453553] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-4] [INFO] [1634296443.841452645] [bt_navigator]: Destroying
[lifecycle_manager-6] [INFO] [1634296443.805432552] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-6] [ERROR] [1634296443.811367891] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-6] [ERROR] [1634296443.811465020] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-6] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’
[lifecycle_manager-6] 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 /home/husarion/ros2_foxy/src/ros2/rcl/rcl/src/rcl/guard_condition.c:67
[waypoint_follower-5] [INFO] [1634296443.805452094] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-5] [INFO] [1634296443.831970219] [waypoint_follower]: Destroying
[planner_server-2] [INFO] [1634296443.805739980] [rclcpp]: signal_handler(signal_value=2)
[controller_server-1] [INFO] [1634296443.806009781] [rclcpp]: signal_handler(signal_value=2)
[controller_server-1] [INFO] [1634296443.815454872] [local_costmap.local_costmap]: start
[controller_server-1] [ERROR] [1634296443.816258735] []: Caught exception in callback for transition 13
[controller_server-1] [ERROR] [1634296443.816315612] []: Original error: could not create subscription: rcl node’s context is invalid, at /home/husarion/ros2_foxy/src/ros2/rcl/rcl/src/rcl/node.c:441
[controller_server-1] [ERROR] [1634296443.816419740] []: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher’s context is invalid, at /home/husarion/ros2_foxy/src/ros2/rcl/rcl/src/rcl/publisher.c:423, at /home/husarion/ros2_foxy/src/ros2/rcl/rcl_lifecycle/src/rcl_lifecycle.c:367)
[bt_navigator-4] [PublisherZMQ] Server quitting.
[bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-4] [PublisherZMQ] Publisher quitting.
[bt_navigator-4] [PublisherZMQ] just died. Exeption Context was terminated
[INFO] [recoveries_server-3]: process has finished cleanly [pid 5246]
[INFO] [planner_server-2]: process has finished cleanly [pid 5244]
[INFO] [controller_server-1]: process has finished cleanly [pid 5242]
[INFO] [waypoint_follower-5]: process has finished cleanly [pid 5250]
[INFO] [bt_navigator-4]: process has finished cleanly [pid 5248]
[ERROR] [lifecycle_manager-6]: process has died [pid 5252, exit code -6, cmd ‘/home/husarion/helper_ws/nav_ws/install/nav2_lifecycle_manager/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_5powsjp0 --params-file /tmp/launch_params__734p25v --params-file /tmp/launch_params_altq2_18’].
husarion@husarion:~$