jetson nano运行nav2官方示例报错，插件无法加载

[yozi444]

环境信息

ros2版本：humble
硬件环境：jetson nano aarch64
nav2版本：https://github.com/ros-navigation/navigation2.git（humble分支）

问题

由于没有aarch64平台的nav2，所以自行编译了nav2，下载了gazebo_ros_pkgs和navigation2两个包，编译后运行官方示例，发现gazebo和riviz都正常启动，但是gazebo的激光雷达线束并没有展示出来

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

已经做过的排查

查看具体的报错信息，发现是BT没有正常启动导致的

[component_container_isolated-6] [ERROR] [1753415761.365097867] [bt_navigator_navigate_through_poses_rclcpp_node]: "global_costmap/clear_entirely_global_costmap" service server not available after waiting for 1.00s
[component_container_isolated-6] [ERROR] [1753415761.386311404] [bt_navigator]: Exception when loading BT: basic_string::_M_create
[component_container_isolated-6] [ERROR] [1753415761.386476140] [bt_navigator]: Error loading XML file: /home/jetson/nav2_ws/install/nav2_bt_navigator/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
[component_container_isolated-6] [ERROR] [1753415761.387238416] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[component_container_isolated-6] [ERROR] [1753415761.387296976] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

继续往上看报错，出现下面两个报错

[component_container_isolated-6] [INFO] [1753415759.176987019] [global_costmap.global_costmap]: Using plugin "static_layer"
[component_container_isolated-6] [ERROR] [1753415759.177916112] [global_costmap.global_costmap]: Caught exception in callback for transition 10
[component_container_isolated-6] [ERROR] [1753415759.177983088] [global_costmap.global_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::StaticLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[component_container_isolated-6] [WARN] [1753415759.178028976] [global_costmap.global_costmap]: Error occurred while doing error handling.
[component_container_isolated-6] [FATAL] [1753415759.178051248] [global_costmap.global_costmap]: Lifecycle node global_costmap does not have error state implemented

和

[component_container_isolated-6] [INFO] [1753415758.973267963] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[component_container_isolated-6] [ERROR] [1753415758.980190369] [local_costmap.local_costmap]: Caught exception in callback for transition 10
[component_container_isolated-6] [ERROR] [1753415758.980297794] [local_costmap.local_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::VoxelLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[component_container_isolated-6] [WARN] [1753415758.980353666] [local_costmap.local_costmap]: Error occurred while doing error handling.
[component_container_isolated-6] [FATAL] [1753415758.980392482] [local_costmap.local_costmap]: Lifecycle node local_costmap does not have error state implemented

这两个插件刚好是配置文件里面local_costmap和global_costmap的第一个要加载的插件，怀疑是这两个动态库没有编译成功，看了CMakeLists，这两个库放在叫做liblayers.so的动态链接库里面，查找后可以找到这个动态链接库

./install/nav2_costmap_2d/lib/liblayers.so

用ldd命令查看这个动态链接库是否加载成功，发现是正常加载的，然后用nm的方式去找，也能找到VoxelLayer和StaticLayer的符号，证明这个动态链接库是没问题的，然后就去找动态库的路径是否有放在LD_LIBRARY_PATH里面，发现也是有的，后面写了个简单的demo去加载VoxelLayer和StaticLayer，发现也是正常加载，但是运行官方示例就没办法加载这两个插件，导致整个项目运行不起来，实在想不通是为什么

测试加载插件的程序

#include <pluginlib/class_loader.hpp>
#include <nav2_costmap_2d/layer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <iostream>

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  
  try {
    // 创建插件加载器
    pluginlib::ClassLoader<nav2_costmap_2d::Layer> loader("nav2_costmap_2d", "nav2_costmap_2d::Layer");
    
    std::cout << "插件加载器创建成功" << std::endl;
    
    // 获取所有可用的插件类
    std::vector<std::string> classes = loader.getDeclaredClasses();
    std::cout << "可用的插件类:" << std::endl;
    for (const auto& cls : classes) {
      std::cout << "  - " << cls << std::endl;
    }
    
    // 专门测试VoxelLayer插件
    std::cout << "\n专门测试 VoxelLayer 插件..." << std::endl;
    
    // 检查VoxelLayer是否在可用类列表中
    bool found = false;
    for (const auto& cls : classes) {
      if (cls == "nav2_costmap_2d::VoxelLayer") {
        found = true;
        break;
      }
    }
    
    if (!found) {
      std::cerr << "错误: VoxelLayer 不在可用插件列表中!" << std::endl;
      return 1;
    }
    
    std::cout << "VoxelLayer 在可用插件列表中" << std::endl;
    
    // 尝试加载VoxelLayer插件
    std::cout << "尝试创建 VoxelLayer 实例..." << std::endl;
    std::shared_ptr<nav2_costmap_2d::Layer> voxel_layer = loader.createSharedInstance("nav2_costmap_2d::VoxelLayer");
    std::cout << "VoxelLayer 插件加载成功!" << std::endl;
    
    // 检查插件类型
    std::cout << "插件类型: " << typeid(*voxel_layer).name() << std::endl;
    
    std::cout << "\nVoxelLayer 插件测试通过!" << std::endl;
    
  } catch (const pluginlib::PluginlibException& e) {
    std::cerr << "插件加载错误: " << e.what() << std::endl;
    return 1;
  } catch (const std::exception& e) {
    std::cerr << "其他错误: " << e.what() << std::endl;
    return 1;
  }
  
  rclcpp::shutdown();
  return 0;
}

[yozi444]

完整报错日志(1/2)

[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2025-07-23-14-17-20-980149-yahboom-50426
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [50480]
[INFO] [gzclient-2]: process started with pid [50482]
[INFO] [spawn_entity.py-3]: process started with pid [50484]
[INFO] [robot_state_publisher-4]: process started with pid [50486]
[INFO] [rviz2-5]: process started with pid [50488]
[INFO] [component_container_isolated-6]: process started with pid [50490]
[robot_state_publisher-4] [INFO] [1753251442.197716595] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-4] [INFO] [1753251442.198000445] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1753251442.198032382] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-4] [INFO] [1753251442.198043870] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-4] [INFO] [1753251442.198052254] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-4] [INFO] [1753251442.198059711] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-4] [INFO] [1753251442.198066591] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-4] [INFO] [1753251442.198073023] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-4] [INFO] [1753251442.198079391] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-4] [INFO] [1753251442.198085376] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-4] [INFO] [1753251442.198091648] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1753251442.198097472] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-4] [INFO] [1753251442.198103616] [robot_state_publisher]: got segment wheel_right_link
[component_container_isolated-6] [INFO] [1753251442.200486324] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so
[component_container_isolated-6] [INFO] [1753251442.225949749] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-6] [INFO] [1753251442.226105914] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-6] [INFO] [1753251442.226120699] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-6] [INFO] [1753251442.226129563] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-6] [INFO] [1753251442.256825076] [map_server]: 
[component_container_isolated-6] 	map_server lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.256960664] [map_server]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251442.275497413] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_amcl/lib/libamcl_core.so
[component_container_isolated-6] [INFO] [1753251442.283825258] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-6] [INFO] [1753251442.283952719] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-6] [INFO] [1753251442.314907408] [amcl]: 
[component_container_isolated-6] 	amcl lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.317481451] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251442.342188017] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_lifecycle_manager/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-6] [INFO] [1753251442.344120085] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-6] [INFO] [1753251442.344205656] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-6] [INFO] [1753251442.360226124] [lifecycle_manager_localization]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251442.368733752] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-6] [INFO] [1753251442.375479845] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_controller/lib/libcontroller_server_core.so
[component_container_isolated-6] [INFO] [1753251442.454398560] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-6] [INFO] [1753251442.454530724] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-6] [INFO] [1753251442.468039840] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-6] [INFO] [1753251442.468154500] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-6] [INFO] [1753251442.468477935] [map_server]: Configuring
[component_container_isolated-6] [INFO] [1753251442.468590259] [map_io]: Loading yaml file: /home/jetson/nav2_ws/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.yaml
[component_container_isolated-6] [INFO] [1753251442.469047075] [map_io]: resolution: 0.05
[component_container_isolated-6] [INFO] [1753251442.469068484] [map_io]: origin[0]: -10
[component_container_isolated-6] [INFO] [1753251442.469090821] [map_io]: origin[1]: -10
[component_container_isolated-6] [INFO] [1753251442.469096773] [map_io]: origin[2]: 0
[component_container_isolated-6] [INFO] [1753251442.469102725] [map_io]: free_thresh: 0.196
[component_container_isolated-6] [INFO] [1753251442.469107973] [map_io]: occupied_thresh: 0.65
[component_container_isolated-6] [INFO] [1753251442.469116326] [map_io]: mode: trinary
[component_container_isolated-6] [INFO] [1753251442.469124550] [map_io]: negate: 0
[component_container_isolated-6] [INFO] [1753251442.469428721] [map_io]: Loading image_file: /home/jetson/nav2_ws/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.pgm
[component_container_isolated-6] [INFO] [1753251442.497807832] [map_io]: Read map /home/jetson/nav2_ws/install/nav2_bringup/share/nav2_bringup/maps/turtlebot3_world.pgm: 384 X 384 map @ 0.05 m/cell
[component_container_isolated-6] [INFO] [1753251442.501872679] [controller_server]: 
[component_container_isolated-6] 	controller_server lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.507423818] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-6] [INFO] [1753251442.507760886] [amcl]: Configuring
[component_container_isolated-6] [INFO] [1753251442.507975422] [amcl]: initTransforms
[component_container_isolated-6] [INFO] [1753251442.519581750] [amcl]: initPubSub
[component_container_isolated-6] [INFO] [1753251442.525440325] [controller_server]: Creating controller server
[component_container_isolated-6] [INFO] [1753251442.536912825] [amcl]: Subscribed to map topic.
[component_container_isolated-6] [INFO] [1753251442.547069662] [lifecycle_manager_localization]: Activating map_server
[component_container_isolated-6] [INFO] [1753251442.547336232] [map_server]: Activating
[component_container_isolated-6] [INFO] [1753251442.547688436] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251442.548330123] [amcl]: Received a 384 X 384 map @ 0.050 m/pix
[component_container_isolated-6] [INFO] [1753251442.562079087] [local_costmap.local_costmap]: 
[component_container_isolated-6] 	local_costmap lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.564605544] [local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251442.582013676] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_smoother/lib/libsmoother_server_core.so
[component_container_isolated-6] [INFO] [1753251442.596769780] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-6] [INFO] [1753251442.596899224] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-6] [INFO] [1753251442.633221655] [smoother_server]: 
[component_container_isolated-6] 	smoother_server lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.641483642] [smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251442.650666397] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_planner/lib/libplanner_server_core.so
[component_container_isolated-6] [INFO] [1753251442.663207031] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-6] [INFO] [1753251442.663495681] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-6] [INFO] [1753251442.666309028] [lifecycle_manager_localization]: Server map_server connected with bond.
[component_container_isolated-6] [INFO] [1753251442.666421128] [lifecycle_manager_localization]: Activating amcl
[component_container_isolated-6] [INFO] [1753251442.666843543] [amcl]: Activating
[component_container_isolated-6] [INFO] [1753251442.666919098] [amcl]: Creating bond (amcl) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251442.694368800] [planner_server]: 
[component_container_isolated-6] 	planner_server lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.701172432] [planner_server]: Creating
[component_container_isolated-6] [INFO] [1753251442.745808307] [global_costmap.global_costmap]: 
[component_container_isolated-6] 	global_costmap lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251442.749558679] [global_costmap.global_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251442.775067737] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_behaviors/lib/libbehavior_server_core.so
[component_container_isolated-6] [INFO] [1753251442.781382168] [lifecycle_manager_localization]: Server amcl connected with bond.
[component_container_isolated-6] [INFO] [1753251442.781504028] [lifecycle_manager_localization]: Managed nodes are active
[component_container_isolated-6] [INFO] [1753251442.781531901] [lifecycle_manager_localization]: Creating bond timer...
[component_container_isolated-6] [INFO] [1753251442.904289023] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-6] [INFO] [1753251442.904402371] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-6] [INFO] [1753251442.922913294] [behavior_server]: 
[component_container_isolated-6] 	behavior_server lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[spawn_entity.py-3] [INFO] [1753251442.931555839] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1753251442.932314265] [spawn_entity]: Loading entity XML from file /home/jetson/nav2_ws/install/nav2_bringup/share/nav2_bringup/worlds/waffle.model
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
[spawn_entity.py-3] [INFO] [1753251442.933949939] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1753251442.934564425] [spawn_entity]: Waiting for service /spawn_entity
[component_container_isolated-6] [INFO] [1753251442.937296873] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_bt_navigator/lib/libbt_navigator_core.so
[component_container_isolated-6] [INFO] [1753251443.004176379] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-6] [INFO] [1753251443.004415908] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-6] [INFO] [1753251443.026452172] [bt_navigator]: 
[component_container_isolated-6] 	bt_navigator lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251443.026623218] [bt_navigator]: Creating
[component_container_isolated-6] [INFO] [1753251443.033394656] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_waypoint_follower/lib/libwaypoint_follower_core.so
[component_container_isolated-6] [INFO] [1753251443.334613453] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-6] [INFO] [1753251443.334738513] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[rviz2-5] [INFO] [1753251443.335100446] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1753251443.335306757] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[component_container_isolated-6] [INFO] [1753251443.357927138] [waypoint_follower]: 
[component_container_isolated-6] 	waypoint_follower lifecycle node launched. 
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251443.359915784] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251443.364323363] [nav2_container]: Load Library: /home/jetson/nav2_ws/install/nav2_velocity_smoother/lib/libvelocity_smoother_core.so
[component_container_isolated-6] [INFO] [1753251443.366805850] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-6] [INFO] [1753251443.366879133] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[rviz2-5] [INFO] [1753251443.379255600] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-6] [INFO] [1753251443.401258455] [velocity_smoother]: 
[component_container_isolated-6] 	velocity_smoother lifecycle node launched. 
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[component_container_isolated-6] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-6] [INFO] [1753251443.407502323] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-6] [INFO] [1753251443.407591574] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-6] [INFO] [1753251443.424878199] [lifecycle_manager_navigation]: Creating
[component_container_isolated-6] [INFO] [1753251443.429366133] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
[component_container_isolated-6] [INFO] [1753251443.452439521] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-6] [INFO] [1753251443.452555269] [lifecycle_manager_navigation]: Configuring controller_server
[component_container_isolated-6] [INFO] [1753251443.452797582] [controller_server]: Configuring controller interface
[component_container_isolated-6] [INFO] [1753251443.453325792] [controller_server]: getting goal checker plugins..
[component_container_isolated-6] [INFO] [1753251443.453578217] [controller_server]: Controller frequency set to 20.0000Hz
[component_container_isolated-6] [INFO] [1753251443.453672588] [local_costmap.local_costmap]: Configuring
[component_container_isolated-6] [INFO] [1753251443.462393087] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[component_container_isolated-6] [ERROR] [1753251443.469053514] [local_costmap.local_costmap]: Caught exception in callback for transition 10
[component_container_isolated-6] [ERROR] [1753251443.469186703] [local_costmap.local_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::VoxelLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[component_container_isolated-6] [WARN] [1753251443.469237968] [local_costmap.local_costmap]: Error occurred while doing error handling.
[component_container_isolated-6] [FATAL] [1753251443.469279314] [local_costmap.local_costmap]: Lifecycle node local_costmap does not have error state implemented
[component_container_isolated-6] [INFO] [1753251443.485548143] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[component_container_isolated-6] [INFO] [1753251443.500010124] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[component_container_isolated-6] [INFO] [1753251443.503494790] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[component_container_isolated-6] [INFO] [1753251443.522549989] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[component_container_isolated-6] [INFO] [1753251443.533067704] [controller_server]: Setting transform_tolerance to 0.200000
[component_container_isolated-6] [INFO] [1753251443.610608802] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[component_container_isolated-6] [INFO] [1753251443.617059333] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.618128874] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[component_container_isolated-6] [INFO] [1753251443.623065048] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.624185696] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[component_container_isolated-6] [INFO] [1753251443.631091251] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.633301728] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[component_container_isolated-6] [INFO] [1753251443.637332622] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.638438901] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[component_container_isolated-6] [INFO] [1753251443.641528034] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.642557382] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[component_container_isolated-6] [INFO] [1753251443.644840151] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.645935837] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[component_container_isolated-6] [INFO] [1753251443.648151691] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1753251443.648243182] [controller_server]: Controller Server has FollowPath  controllers available.
[component_container_isolated-6] [INFO] [1753251443.692963445] [lifecycle_manager_navigation]: Configuring smoother_server
[component_container_isolated-6] [INFO] [1753251443.693397220] [smoother_server]: Configuring smoother server
[component_container_isolated-6] [INFO] [1753251443.725871996] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[component_container_isolated-6] [INFO] [1753251443.731057778] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[component_container_isolated-6] [INFO] [1753251443.748950568] [lifecycle_manager_navigation]: Configuring planner_server
[component_container_isolated-6] [INFO] [1753251443.749264115] [planner_server]: Configuring

[yozi444]

完整的日志(2/2)

[component_container_isolated-6] [INFO] [1753251443.749380247] [global_costmap.global_costmap]: Configuring
[component_container_isolated-6] [INFO] [1753251443.760816650] [global_costmap.global_costmap]: Using plugin "static_layer"
[component_container_isolated-6] [ERROR] [1753251443.762548071] [global_costmap.global_costmap]: Caught exception in callback for transition 10
[component_container_isolated-6] [ERROR] [1753251443.762628810] [global_costmap.global_costmap]: Original error: MultiLibraryClassLoader: Could not create object of class type nav2_costmap_2d::StaticLayer as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[component_container_isolated-6] [WARN] [1753251443.762670219] [global_costmap.global_costmap]: Error occurred while doing error handling.
[component_container_isolated-6] [FATAL] [1753251443.762694508] [global_costmap.global_costmap]: Lifecycle node global_costmap does not have error state implemented
[component_container_isolated-6] [INFO] [1753251443.772236412] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[component_container_isolated-6] [INFO] [1753251443.772425538] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1753251443.779999533] [planner_server]: Planner Server has GridBased  planners available.
[component_container_isolated-6] [INFO] [1753251443.802771183] [lifecycle_manager_navigation]: Configuring behavior_server
[component_container_isolated-6] [INFO] [1753251443.803174269] [behavior_server]: Configuring
[component_container_isolated-6] [INFO] [1753251443.813888566] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[component_container_isolated-6] [WARN] [1753251443.856251914] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container_isolated-6] [INFO] [1753251443.873306658] [behavior_server]: Configuring spin
[component_container_isolated-6] [INFO] [1753251443.900243766] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[component_container_isolated-6] [INFO] [1753251443.964924540] [behavior_server]: Configuring backup
[component_container_isolated-6] [INFO] [1753251443.983871159] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[rviz2-5] [INFO] [1753251444.035097762] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches
[component_container_isolated-6] [INFO] [1753251444.042861235] [behavior_server]: Configuring drive_on_heading
[component_container_isolated-6] [INFO] [1753251444.056741468] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[component_container_isolated-6] [INFO] [1753251444.115389133] [behavior_server]: Configuring assisted_teleop
[component_container_isolated-6] [INFO] [1753251444.136690331] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[component_container_isolated-6] [INFO] [1753251444.194852666] [behavior_server]: Configuring wait
[component_container_isolated-6] [INFO] [1753251444.203870712] [lifecycle_manager_navigation]: Configuring bt_navigator
[component_container_isolated-6] [INFO] [1753251444.204192483] [bt_navigator]: Configuring
[component_container_isolated-6] [INFO] [1753251444.476198891] [lifecycle_manager_navigation]: Configuring waypoint_follower
[component_container_isolated-6] [INFO] [1753251444.476540375] [waypoint_follower]: Configuring
[component_container_isolated-6] [INFO] [1753251444.539928655] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[component_container_isolated-6] [INFO] [1753251444.544417197] [lifecycle_manager_navigation]: Configuring velocity_smoother
[component_container_isolated-6] [INFO] [1753251444.545013538] [velocity_smoother]: Configuring velocity smoother
[component_container_isolated-6] [INFO] [1753251444.559910191] [lifecycle_manager_navigation]: Activating controller_server
[component_container_isolated-6] [INFO] [1753251444.560297692] [controller_server]: Activating
[component_container_isolated-6] [WARN] [1753251444.560381087] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured
[component_container_isolated-6] [ERROR] [1753251444.560416640] [local_costmap.local_costmap]: Unable to start transition 3 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-6] [INFO] [1753251444.560522212] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251444.669279289] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[component_container_isolated-6] [INFO] [1753251444.669408125] [lifecycle_manager_navigation]: Activating smoother_server
[component_container_isolated-6] [INFO] [1753251444.669981618] [smoother_server]: Activating
[component_container_isolated-6] [INFO] [1753251444.670087445] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251444.780236667] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[component_container_isolated-6] [INFO] [1753251444.780403361] [lifecycle_manager_navigation]: Activating planner_server
[component_container_isolated-6] [INFO] [1753251444.781146139] [planner_server]: Activating
[component_container_isolated-6] [WARN] [1753251444.781254719] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured
[component_container_isolated-6] [ERROR] [1753251444.781276576] [global_costmap.global_costmap]: Unable to start transition 3 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-6] [INFO] [1753251444.781307649] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1753251444.785443123] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251444.897467354] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[component_container_isolated-6] [INFO] [1753251444.897577310] [lifecycle_manager_navigation]: Activating behavior_server
[component_container_isolated-6] [INFO] [1753251444.898251094] [behavior_server]: Activating
[component_container_isolated-6] [INFO] [1753251444.898304760] [behavior_server]: Activating spin
[component_container_isolated-6] [INFO] [1753251444.898357210] [behavior_server]: Activating backup
[component_container_isolated-6] [INFO] [1753251444.898386427] [behavior_server]: Activating drive_on_heading
[component_container_isolated-6] [INFO] [1753251444.898410140] [behavior_server]: Activating assisted_teleop
[component_container_isolated-6] [INFO] [1753251444.898429276] [behavior_server]: Activating wait
[component_container_isolated-6] [INFO] [1753251444.898455101] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251445.006426038] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[component_container_isolated-6] [INFO] [1753251445.006568731] [lifecycle_manager_navigation]: Activating bt_navigator
[component_container_isolated-6] [INFO] [1753251445.007298197] [bt_navigator]: Activating
[spawn_entity.py-3] [INFO] [1753251445.208080082] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1753251445.694306799] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [turtlebot3_waffle]
[gzserver-1] [INFO] [1753251445.831969278] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m]
[gzserver-1] [INFO] [1753251445.833129703] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gzserver-1] [INFO] [1753251445.858151256] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel]
[gzserver-1] [INFO] [1753251445.870160222] [turtlebot3_diff_drive]: Advertise odometry on [/odom]
[gzserver-1] [INFO] [1753251445.884349554] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-1] [INFO] [1753251445.942519730] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1753251445.942755514] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 50484]
[component_container_isolated-6] [ERROR] [1753251446.026872299] [bt_navigator_navigate_through_poses_rclcpp_node]: "global_costmap/clear_entirely_global_costmap" service server not available after waiting for 1.00s
[component_container_isolated-6] [ERROR] [1753251446.049440230] [bt_navigator]: Exception when loading BT: basic_string::_M_create
[component_container_isolated-6] [ERROR] [1753251446.049597675] [bt_navigator]: Error loading XML file: /home/jetson/nav2_ws/install/nav2_bt_navigator/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
[component_container_isolated-6] [ERROR] [1753251446.050373127] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[component_container_isolated-6] [ERROR] [1753251446.050420680] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.



[INFO] [rviz2-5]: process has finished cleanly [pid 50488]
[INFO] [component_container_isolated-6]: sending signal 'SIGINT' to process[component_container_isolated-6]
[INFO] [robot_state_publisher-4]: sending signal 'SIGINT' to process[robot_state_publisher-4]
[INFO] [gzclient-2]: sending signal 'SIGINT' to process[gzclient-2]
[INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1]
[component_container_isolated-6] [INFO] [1753251913.802105539] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-6] [INFO] [1753251913.802391251] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)
[component_container_isolated-6] [INFO] [1753251913.803113084] [velocity_smoother]: Cleaning up
[component_container_isolated-6] [INFO] [1753251913.803291046] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251913.803345449] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation)
[robot_state_publisher-4] [INFO] [1753251913.805015463] [rclcpp]: signal_handler(signum=2)
[gzclient-2] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::msgs::Response; typename boost::detail::sp_member_access<T>::type = gazebo::msgs::Response*]: Assertion `px != 0' failed.
[component_container_isolated-6] [INFO] [1753251913.909826884] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)
[component_container_isolated-6] [INFO] [1753251913.909985869] [waypoint_follower]: Cleaning up
[component_container_isolated-6] [INFO] [1753251913.925647777] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251913.926714877] [planner_server]: Running Nav2 LifecycleNode rcl preshutdown (planner_server)
[component_container_isolated-6] [INFO] [1753251913.926821315] [planner_server]: Deactivating
[component_container_isolated-6] [WARN] [1753251913.926968748] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured
[component_container_isolated-6] [ERROR] [1753251913.926992429] [global_costmap.global_costmap]: Unable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-6] [INFO] [1753251913.927037040] [planner_server]: Deactivating plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1753251913.927067089] [planner_server]: Destroying bond (planner_server) to lifecycle manager.
[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 50486]
[component_container_isolated-6] [INFO] [1753251913.937299283] [planner_server]: Cleaning up
[component_container_isolated-6] [WARN] [1753251913.961427941] [rcl_lifecycle]: No transition matching 2 found for current state unconfigured
[component_container_isolated-6] [ERROR] [1753251913.961502985] [global_costmap.global_costmap]: Unable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-6] [INFO] [1753251913.961585518] [planner_server]: Cleaning up plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1753251913.961828860] [planner_server]: Destroying plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1753251913.962073098] [planner_server]: Destroying bond (planner_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251913.962096331] [smoother_server]: Running Nav2 LifecycleNode rcl preshutdown (smoother_server)
[component_container_isolated-6] [INFO] [1753251913.962141037] [smoother_server]: Deactivating
[component_container_isolated-6] [INFO] [1753251913.962219154] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251913.972570938] [smoother_server]: Cleaning up
[component_container_isolated-6] [INFO] [1753251913.999983270] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.000092780] [bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator)
[component_container_isolated-6] [INFO] [1753251914.000147215] [bt_navigator]: Cleaning up
[component_container_isolated-6] [INFO] [1753251914.024743675] [bt_navigator]: Completed Cleaning up
[component_container_isolated-6] [INFO] [1753251914.024880578] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.024905412] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[component_container_isolated-6] [INFO] [1753251914.024957511] [behavior_server]: Deactivating
[component_container_isolated-6] [INFO] [1753251914.025165650] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.035445942] [behavior_server]: Cleaning up
[component_container_isolated-6] [INFO] [1753251914.042549351] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.042644109] [lifecycle_manager_localization]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization)
[component_container_isolated-6] [INFO] [1753251914.042681711] [lifecycle_manager_localization]: Terminating bond timer...
[component_container_isolated-6] [INFO] [1753251914.068145387] [amcl]: Running Nav2 LifecycleNode rcl preshutdown (amcl)
[component_container_isolated-6] [INFO] [1753251914.068294100] [amcl]: Deactivating
[component_container_isolated-6] [INFO] [1753251914.068329910] [amcl]: Destroying bond (amcl) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.078530325] [amcl]: Cleaning up
[component_container_isolated-6] [INFO] [1753251914.091819619] [amcl]: Destroying bond (amcl) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.091927305] [controller_server]: Running Nav2 LifecycleNode rcl preshutdown (controller_server)
[component_container_isolated-6] [INFO] [1753251914.091996525] [controller_server]: Deactivating
[component_container_isolated-6] [WARN] [1753251914.092088530] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured
[component_container_isolated-6] [ERROR] [1753251914.092107923] [local_costmap.local_costmap]: Unable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-6] [INFO] [1753251914.092317695] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.102544416] [controller_server]: Cleaning up
[component_container_isolated-6] [WARN] [1753251914.105576459] [rcl_lifecycle]: No transition matching 2 found for current state unconfigured
[component_container_isolated-6] [ERROR] [1753251914.105917278] [local_costmap.local_costmap]: Unable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-6] [INFO] [1753251914.132099428] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.132197833] [map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[component_container_isolated-6] [INFO] [1753251914.132255532] [map_server]: Deactivating
[component_container_isolated-6] [INFO] [1753251914.132290158] [map_server]: Destroying bond (map_server) to lifecycle manager.
[component_container_isolated-6] [INFO] [1753251914.142542833] [map_server]: Cleaning up
[component_container_isolated-6] [INFO] [1753251914.142712570] [map_server]: Destroying bond (map_server) to lifecycle manager.
[INFO] [gzserver-1]: process has finished cleanly [pid 50480]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_isolated-6] [INFO] [1753251914.778845836] [rclcpp]: signal_handler(signum=2)
[ERROR] [gzclient-2]: process has died [pid 50482, exit code -6, cmd 'gzclient'].
[ERROR] [component_container_isolated-6]: process[component_container_isolated-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container_isolated-6]: sending signal 'SIGTERM' to process[component_container_isolated-6]
[component_container_isolated-6] [INFO] [1753251918.805917365] [rclcpp]: signal_handler(signum=15)
[ERROR] [component_container_isolated-6]: process[component_container_isolated-6] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [component_container_isolated-6]: sending signal 'SIGKILL' to process[component_container_isolated-6]
[ERROR] [component_container_isolated-6]: process has died [pid 50490, exit code -9, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_uo0w691_ --params-file /tmp/launch_params_6owr0ddp -r /tf:=tf -r /tf_static:=tf_static']