Navigation stack having problem starting up (Smoother server and localization server sometimes giving trouble when trying to launch navigation) #466
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troubleshooting
System not working as expected, may be user error.
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xylhal
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Hi @xylhal |
This above is the output from running The localization usually runs fine without throwing any errors. |
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Hi @RustyCPR, @smatarCPR Any feedback on this? I realized that this is a common issue but this issue always gets closed. I would like to dive deeper into the cause of this. Thanks |
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Hello @xylhal |
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Hi @xylhal, @RustyCPR, and @smatarCPR I recently got into the same issue with my robot.
I found that this error is raised at this line, and it may be a timing-related issue while creating a bond between a lifecycle manager and a node, in this case, amcl. I plan to look into it, but I just wanted to tell you what I found. |
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I made a PR to |
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@daisukes Thank you, please let us know if you have any update on whether your PR fixed the issue. @RustyCPR, @smatarCPR Please also let me know what your findings are |
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@xylhal the logs that you provided are all from the localization launch, can you please share the log from the nav2 launch command that you are using? Additionally, can you clarify where you are running the localization / nav nodes? We recommend running them offboard, on a separate machine that runs Ubuntu natively (not on the turtlebot itself). @daisukes I took a quick look at your PR and although your comment says that you want the change included on Humble, the PR is for Galactic. Galactic is end of life and is no longer supported, if you want them to look at your PR I would suggest creating a new one for Humble. |
Thanks for the check! |
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@hilary-luo Apologies, here is the screenshot of the error we faced when running nav2 launch command. Although the error above from running the localization sometimes occurs as well, but most of the them, the error comes from launching nav2. And I am currently running them offboard on a dedicated Ubuntu machine following the discovery server architecture |
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@hilary-luo This is from a different session of re-running the nav2 launch file |
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Hi @RustyCPR @smatarCPR @hilary-luo Do you have updates on your findings? We got a second turtlebot that is setup in a totally independent network and this is still happening. |
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Hi @xylhal Could you try to clone my bond_cpp fix into your workspace and build it with your packages to see if it can fix the issue? If it works, please leave a comment for support at the PR! Thanks |
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@daisukes Sure, I will try it out and get back to you |
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Robot Model
Turtlebot4 Standard
ROS distro
Humble
Networking Configuration
Discovery Server
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
Unsure
Type of issue
Navigation (SLAM, Nav2 etc.)
Expected behaviour
I expect the nav2 navigation stack to start up without error so that it could be used for navigation.
Actual behaviour
Often times, when I start up the navigation node after running localization, I get the error that the smoother server has failed and will not not respond.
Error messages
To Reproduce
ros2 launch turtlebot4_navigation localization.launch.py map:=office.yamlros2 launch turtlebot4_navigation nav2.launch.py # navigationOther notes
I have tried re-flashing the image, setting up the turtlebot from scratch following the instructions, factory resetting the create3 base and the error still occurs. Most of them time, I have to restart the turtlebot multiple times before it can be loaded successfully.
I'm currently using the turtlebot4_standard_humble_1.0.0 image, and running it in the discovery server mode.
I'm also running this with an actual robot and not in simulation.
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