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    cartographer保存图与rviz显示不一致，且在nav2中加载保存的图是一片白

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    cartographer 仿真
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    • 24758873092
      量子之海里的卡夫卡
      最后由 编辑

      标题：cartographer保存图与rviz显示不一致，且在nav2中加载保存的图是一片白

      问题描述：

      硬件 nuc x86平台
      系统版本 ubuntu20.04
      ros版本 foxy
      cartographer建图后使用下面命令后保存的图保存图与rviz显示不一致，且在nav2中加载保存的图是一片白

      ros2 run nav2_map_server map_saver_cli -t map -f fishbot_map

      如下图所示IMG_20240415_133555.jpg
      nav2导入的图是空白的（确定map文件夹下的图已经替换为最新的，编译后share目录下也有对应的图）
      IMG_20240415_134045.jpg
      nav2 parmar 配置如下

      amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: True

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.26
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.12
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.35
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: True
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      robot_radius: 0.12
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: True
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

map_server:
  ros__parameters:
    use_sim_time: True
    yaml_filename: "turtlebot3_world.yaml"

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5000
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: False

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "back_up", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    back_up:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: True

      nav2launch文件配置如下

      '''
作者: 小鱼
公众号: 鱼香ROS
QQ交流群: 2642868461
描述: Nav2 launch启动文件
'''
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    #=============================1.定位到包的地址=============================================================
    fishbot_navigation2_dir = get_package_share_directory('fishbot_navigation2')
    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
    
    
    #=============================2.声明参数，获取配置文件路径===================================================
    # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
    use_sim_time = LaunchConfiguration('use_sim_time', default='true') 
    map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','fishbot_map.yaml'))
    nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','fishbot_nav2.yaml'))
    rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')

    #=============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
    nav2_bringup_launch = IncludeLaunchDescription(
            PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
            launch_arguments={
                'map': map_yaml_path,
                'use_sim_time': use_sim_time,
                'params_file': nav2_param_path}.items(),
        )
    rviz_node =  Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz_config_dir],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen')
    
    return LaunchDescription([nav2_bringup_launch,rviz_node])

      运行保存地图命令后的log

      doki@doki:~/fishbot_ws/src/fishbot_cartographer/map$ ros2 run nav2_map_server map_saver_cli -t map -f fishbot_map
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
2024-04-15 13:35:07.235 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal
[INFO] [1713159307.271350024] [map_saver]: 
	map_saver lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1713159307.271799476] [map_saver]: Creating
[INFO] [1713159307.272066482] [map_saver]: Saving map from 'map' topic to 'fishbot_map' file
[WARN] [1713159307.272093244] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1713159307.272109316] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
[WARN] [map_io]: Image format unspecified. Setting it to: pgm
[INFO] [map_io]: Received a 627 X 424 map @ 0.4 m/pix
[INFO] [map_io]: Writing map occupancy data to fishbot_map.pgm
[INFO] [map_io]: Writing map metadata to fishbot_map.yaml
[INFO] [map_io]: Map saved
[INFO] [1713159307.981907269] [map_saver]: Map saved successfully
[INFO] [1713159307.982130604] [map_saver]: Destroying

      rviz 的部分日志（太多了，```
      [rviz2-10] [INFO] [1713159647.797478864] [rviz2]: Message Filter dropping message: frame 'odom' at time 472.554 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159647.799202254] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159647.862795699] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 472.638 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.022436640] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.022596268] [rviz2]: Message Filter dropping message: frame 'odom' at time 472.753 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.054023783] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 472.837 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.214593625] [rviz2]: Message Filter dropping message: frame 'odom' at time 472.952 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.278110172] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.038 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159648.299271064] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159648.406450886] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.152 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.439731285] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10] [INFO] [1713159648.440915173] [rviz2]: Sending lifecycle_manager_navigation/is_active request
      [rviz2-10] [INFO] [1713159648.469438843] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.237 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.597485350] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.597642555] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.352 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.661936972] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.438 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159648.799237647] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159648.822041899] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.552 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159648.854357300] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.637 for reason 'Unknown'
      [amcl-2] [WARN] [1713159648.863671605] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
      [rviz2-10] [INFO] [1713159649.013832346] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.754 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.078166627] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.838 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.206504088] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.206787334] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.951 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.269529554] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.038 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159649.299290754] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159649.399012779] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.151 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.441700218] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10] [INFO] [1713159649.442619588] [rviz2]: Sending lifecycle_manager_navigation/is_active request
      [rviz2-10] [INFO] [1713159649.462482790] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.238 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.622652422] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.351 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.686002800] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.438 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159649.799189835] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159649.814223037] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.814709394] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.550 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159649.878791784] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.638 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.005417642] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.750 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.070341239] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.838 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.198511275] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.949 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.261945399] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.037 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159650.299247049] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159650.421914516] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.422045626] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.150 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.443113732] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10] [INFO] [1713159650.444083290] [rviz2]: Sending lifecycle_manager_navigation/is_active request
      [rviz2-10] [INFO] [1713159650.485644092] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.237 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.613620479] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.352 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.678198323] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.437 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159650.799244227] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159650.805600382] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.553 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.870276858] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.637 for reason 'Unknown'
      [amcl-2] [WARN] [1713159650.882334554] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
      [rviz2-10] [INFO] [1713159650.998285087] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159650.998422818] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.749 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.093894366] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.837 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.221625376] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.949 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.286049976] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.037 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159651.299249407] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159651.413803093] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.149 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.444867464] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10] [INFO] [1713159651.445873984] [rviz2]: Sending lifecycle_manager_navigation/is_active request
      [rviz2-10] [INFO] [1713159651.478551117] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.238 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.606442996] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.606746417] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.348 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.701941527] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.437 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159651.797544944] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.547 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159651.799309499] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159651.894219467] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.638 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.021925720] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.748 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.085431324] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.838 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.214032369] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.214224830] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.947 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.278332345] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.037 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159652.299237975] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159652.406072540] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.146 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.446284509] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10] [INFO] [1713159652.447689916] [rviz2]: Sending lifecycle_manager_navigation/is_active request
      [rviz2-10] [INFO] [1713159652.501870393] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.238 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.598241486] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.345 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.693494315] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.438 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159652.799344432] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159652.822452165] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.822896275] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.546 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159652.886226420] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.637 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.014130858] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.746 for reason 'Unknown'
      [amcl-2] [WARN] [1713159653.108456455] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
      [rviz2-10] [INFO] [1713159653.110023775] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.837 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.206759680] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.945 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159653.299191104] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159653.301679760] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.037 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.397709834] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.397828950] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.145 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.448269136] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10] [INFO] [1713159653.449045781] [rviz2]: Sending lifecycle_manager_navigation/is_active request
      [rviz2-10] [INFO] [1713159653.495060844] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.238 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.621509719] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.344 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.686319605] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.438 for reason 'Unknown'
      [planner_server-5] [INFO] [1713159653.799207263] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
      [rviz2-10] [INFO] [1713159653.813864847] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.543 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159653.909697860] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.637 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159654.006121477] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
      [rviz2-10] [INFO] [1713159654.006264343] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.743 for reason 'Unknown'
      ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
      [bt_navigator-7] [INFO] [1713159654.099212964] [rclcpp]: signal_handler(signal_value=2)
      [waypoint_follower-8] [INFO] [1713159654.099250860] [rclcpp]: signal_handler(signal_value=2)
      [rviz2-10] [INFO] [1713159654.099260991] [rclcpp]: signal_handler(signal_value=2)
      [rviz2-10] [INFO] [1713159654.099603561] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
      [rviz2-10]
      [rviz2-10] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
      [rviz2-10] This error state is being overwritten:
      [rviz2-10]
      [rviz2-10] 'rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:441'
      [rviz2-10]
      [rviz2-10] with this new error message:
      [rviz2-10]
      [rviz2-10] 'the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/wait.c:130'
      [rviz2-10]
      [rviz2-10] rcutils_reset_error() should be called after error handling to avoid this.
      [rviz2-10] <<<
      [rviz2-10] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
      [rviz2-10] what(): failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/wait.c:130
      [map_server-1] [INFO] [1713159654.099292247] [rclcpp]: signal_handler(signal_value=2)
      [map_server-1] [INFO] [1713159654.102026209] [map_server]: Destroying
      [lifecycle_manager-9] [INFO] [1713159654.099293681] [rclcpp]: signal_handler(signal_value=2)
      [lifecycle_manager-9] [ERROR] [1713159654.101441635] [lifecycle_manager_navigation]: Failed to change state for node: planner_server
      [lifecycle_manager-9] [ERROR] [1713159654.101501914] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
      [lifecycle_manager-9] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
      [lifecycle_manager-9] 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-1.1.14/src/rcl/guard_condition.c:67
      [lifecycle_manager-3] [INFO] [1713159654.099292959] [rclcpp]: signal_handler(signal_value=2)
      [recoveries_server-6] [INFO] [1713159654.099298399] [rclcpp]: signal_handler(signal_value=2)
      [INFO] [planner_server-5]: process has finished cleanly [pid 81383]
      [planner_server-5] [INFO] [1713159654.099319352] [rclcpp]: signal_handler(signal_value=2)
      [planner_server-5] [INFO] [1713159654.099924784] [global_costmap.global_costmap]: start
      [planner_server-5] [ERROR] [1713159654.102255260] []: Caught exception in callback for transition 13
      [INFO] [recoveries_server-6]: process has finished cleanly [pid 81385]
      [amcl-2] [INFO] [1713159654.099359884] [rclcpp]: signal_handler(signal_value=2)
      [controller_server-4] [INFO] [1713159654.099360150] [rclcpp]: signal_handler(signal_value=2)
      [planner_server-5] [ERROR] [1713159654.102301003] []: Original error: could not create subscription: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:441
      [planner_server-5] [ERROR] [1713159654.102363423] []: 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-1.1.14/src/rcl/publisher.c:423, at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:367)
      [planner_server-5] [INFO] [1713159654.102388121] [planner_server]: Activating plugin GridBased of type NavfnPlanner
      [planner_server-5] [ERROR] [1713159654.102407435] []: Failed to finish transition 3. Current state is now: active (Could not publish transition: publisher's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/publisher.c:423, at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:367)
      [INFO] [controller_server-4]: process has finished cleanly [pid 81381]
      [lifecycle_manager-3] [INFO] [1713159654.104235704] [lifecycle_manager_localization]: Destroying
      [amcl-2] [INFO] [1713159654.105737279] [amcl]: Destroying
      [bt_navigator-7] [INFO] [1713159654.105798507] [bt_navigator]: Destroying
      [waypoint_follower-8] [INFO] [1713159654.106005618] [waypoint_follower]: Destroying
      [INFO] [map_server-1]: process has finished cleanly [pid 81375]
      [INFO] [lifecycle_manager-3]: process has finished cleanly [pid 81379]
      [INFO] [waypoint_follower-8]: process has finished cleanly [pid 81389]
      [INFO] [amcl-2]: process has finished cleanly [pid 81377]
      [INFO] [bt_navigator-7]: process has finished cleanly [pid 81387]
      [ERROR] [rviz2-10]: process has died [pid 81393, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/doki/fishbot_ws/install/nav2_bringup/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_gizwe1yi'].
      [ERROR] [lifecycle_manager-9]: process has died [pid 81391, exit code -6, cmd '/home/doki/fishbot_ws/install/nav2_lifecycle_manager/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_xaxlgzon --params-file /tmp/launch_params_6ul_5qpx --params-file /tmp/launch_params_dbtoojxe'].

      24758873092 1 条回复 最后回复 回复 引用 0
      • 24758873092
        量子之海里的卡夫卡 @2475887309
        最后由 编辑

        @2475887309 在 cartographer保存图与rviz显示不一致，且在nav2中加载保存的图是一片白 中说：
        rviz部分日志格式有问题，重发一下

        [rviz2-10] [INFO] [1713159647.797478864] [rviz2]: Message Filter dropping message: frame 'odom' at time 472.554 for reason 'Unknown'
[planner_server-5] [INFO] [1713159647.799202254] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159647.862795699] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 472.638 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.022436640] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.022596268] [rviz2]: Message Filter dropping message: frame 'odom' at time 472.753 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.054023783] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 472.837 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.214593625] [rviz2]: Message Filter dropping message: frame 'odom' at time 472.952 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.278110172] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.038 for reason 'Unknown'
[planner_server-5] [INFO] [1713159648.299271064] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159648.406450886] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.152 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.439731285] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1713159648.440915173] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-10] [INFO] [1713159648.469438843] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.237 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.597485350] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.597642555] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.352 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.661936972] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.438 for reason 'Unknown'
[planner_server-5] [INFO] [1713159648.799237647] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159648.822041899] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.552 for reason 'Unknown'
[rviz2-10] [INFO] [1713159648.854357300] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.637 for reason 'Unknown'
[amcl-2] [WARN] [1713159648.863671605] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-10] [INFO] [1713159649.013832346] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.754 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.078166627] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 473.838 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.206504088] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.206787334] [rviz2]: Message Filter dropping message: frame 'odom' at time 473.951 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.269529554] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.038 for reason 'Unknown'
[planner_server-5] [INFO] [1713159649.299290754] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159649.399012779] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.151 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.441700218] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1713159649.442619588] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-10] [INFO] [1713159649.462482790] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.238 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.622652422] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.351 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.686002800] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.438 for reason 'Unknown'
[planner_server-5] [INFO] [1713159649.799189835] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159649.814223037] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.814709394] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.550 for reason 'Unknown'
[rviz2-10] [INFO] [1713159649.878791784] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.638 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.005417642] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.750 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.070341239] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 474.838 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.198511275] [rviz2]: Message Filter dropping message: frame 'odom' at time 474.949 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.261945399] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.037 for reason 'Unknown'
[planner_server-5] [INFO] [1713159650.299247049] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159650.421914516] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.422045626] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.150 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.443113732] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1713159650.444083290] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-10] [INFO] [1713159650.485644092] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.237 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.613620479] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.352 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.678198323] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.437 for reason 'Unknown'
[planner_server-5] [INFO] [1713159650.799244227] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159650.805600382] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.553 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.870276858] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.637 for reason 'Unknown'
[amcl-2] [WARN] [1713159650.882334554] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-10] [INFO] [1713159650.998285087] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159650.998422818] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.749 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.093894366] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 475.837 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.221625376] [rviz2]: Message Filter dropping message: frame 'odom' at time 475.949 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.286049976] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.037 for reason 'Unknown'
[planner_server-5] [INFO] [1713159651.299249407] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159651.413803093] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.149 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.444867464] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1713159651.445873984] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-10] [INFO] [1713159651.478551117] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.238 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.606442996] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.606746417] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.348 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.701941527] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.437 for reason 'Unknown'
[rviz2-10] [INFO] [1713159651.797544944] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.547 for reason 'Unknown'
[planner_server-5] [INFO] [1713159651.799309499] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159651.894219467] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.638 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.021925720] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.748 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.085431324] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 476.838 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.214032369] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.214224830] [rviz2]: Message Filter dropping message: frame 'odom' at time 476.947 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.278332345] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.037 for reason 'Unknown'
[planner_server-5] [INFO] [1713159652.299237975] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159652.406072540] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.146 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.446284509] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1713159652.447689916] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-10] [INFO] [1713159652.501870393] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.238 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.598241486] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.345 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.693494315] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.438 for reason 'Unknown'
[planner_server-5] [INFO] [1713159652.799344432] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159652.822452165] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.822896275] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.546 for reason 'Unknown'
[rviz2-10] [INFO] [1713159652.886226420] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.637 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.014130858] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.746 for reason 'Unknown'
[amcl-2] [WARN] [1713159653.108456455] [amcl]: ACML cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-10] [INFO] [1713159653.110023775] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 477.837 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.206759680] [rviz2]: Message Filter dropping message: frame 'odom' at time 477.945 for reason 'Unknown'
[planner_server-5] [INFO] [1713159653.299191104] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159653.301679760] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.037 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.397709834] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.397828950] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.145 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.448269136] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1713159653.449045781] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-10] [INFO] [1713159653.495060844] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.238 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.621509719] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.344 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.686319605] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.438 for reason 'Unknown'
[planner_server-5] [INFO] [1713159653.799207263] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1713159653.813864847] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.543 for reason 'Unknown'
[rviz2-10] [INFO] [1713159653.909697860] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 478.637 for reason 'Unknown'
[rviz2-10] [INFO] [1713159654.006121477] [rviz2]: Message Filter dropping message: frame 'odom' at time 0.000 for reason 'Unknown'
[rviz2-10] [INFO] [1713159654.006264343] [rviz2]: Message Filter dropping message: frame 'odom' at time 478.743 for reason 'Unknown'
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[bt_navigator-7] [INFO] [1713159654.099212964] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-8] [INFO] [1713159654.099250860] [rclcpp]: signal_handler(signal_value=2)
[rviz2-10] [INFO] [1713159654.099260991] [rclcpp]: signal_handler(signal_value=2)
[rviz2-10] [INFO] [1713159654.099603561] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10]
[rviz2-10] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-10] This error state is being overwritten:
[rviz2-10]
[rviz2-10] 'rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:441'
[rviz2-10]
[rviz2-10] with this new error message:
[rviz2-10]
[rviz2-10] 'the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/wait.c:130'
[rviz2-10]
[rviz2-10] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-10] <<<
[rviz2-10] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-10] what(): failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/wait.c:130
[map_server-1] [INFO] [1713159654.099292247] [rclcpp]: signal_handler(signal_value=2)
[map_server-1] [INFO] [1713159654.102026209] [map_server]: Destroying
[lifecycle_manager-9] [INFO] [1713159654.099293681] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-9] [ERROR] [1713159654.101441635] [lifecycle_manager_navigation]: Failed to change state for node: planner_server
[lifecycle_manager-9] [ERROR] [1713159654.101501914] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-9] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[lifecycle_manager-9] 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-1.1.14/src/rcl/guard_condition.c:67
[lifecycle_manager-3] [INFO] [1713159654.099292959] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-6] [INFO] [1713159654.099298399] [rclcpp]: signal_handler(signal_value=2)
[INFO] [planner_server-5]: process has finished cleanly [pid 81383]
[planner_server-5] [INFO] [1713159654.099319352] [rclcpp]: signal_handler(signal_value=2)
[planner_server-5] [INFO] [1713159654.099924784] [global_costmap.global_costmap]: start
[planner_server-5] [ERROR] [1713159654.102255260] []: Caught exception in callback for transition 13
[INFO] [recoveries_server-6]: process has finished cleanly [pid 81385]
[amcl-2] [INFO] [1713159654.099359884] [rclcpp]: signal_handler(signal_value=2)
[controller_server-4] [INFO] [1713159654.099360150] [rclcpp]: signal_handler(signal_value=2)
[planner_server-5] [ERROR] [1713159654.102301003] []: Original error: could not create subscription: rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:441
[planner_server-5] [ERROR] [1713159654.102363423] []: 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-1.1.14/src/rcl/publisher.c:423, at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:367)
[planner_server-5] [INFO] [1713159654.102388121] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-5] [ERROR] [1713159654.102407435] []: Failed to finish transition 3. Current state is now: active (Could not publish transition: publisher's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/publisher.c:423, at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:367)
[INFO] [controller_server-4]: process has finished cleanly [pid 81381]
[lifecycle_manager-3] [INFO] [1713159654.104235704] [lifecycle_manager_localization]: Destroying
[amcl-2] [INFO] [1713159654.105737279] [amcl]: Destroying
[bt_navigator-7] [INFO] [1713159654.105798507] [bt_navigator]: Destroying
[waypoint_follower-8] [INFO] [1713159654.106005618] [waypoint_follower]: Destroying
[INFO] [map_server-1]: process has finished cleanly [pid 81375]
[INFO] [lifecycle_manager-3]: process has finished cleanly [pid 81379]
[INFO] [waypoint_follower-8]: process has finished cleanly [pid 81389]
[INFO] [amcl-2]: process has finished cleanly [pid 81377]
[INFO] [bt_navigator-7]: process has finished cleanly [pid 81387]
[ERROR] [rviz2-10]: process has died [pid 81393, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/doki/fishbot_ws/install/nav2_bringup/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_gizwe1yi'].
[ERROR] [lifecycle_manager-9]: process has died [pid 81391, exit code -6, cmd '/home/doki/fishbot_ws/install/nav2_lifecycle_manager/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_xaxlgzon --params-file /tmp/launch_params_6ul_5qpx --params-file /tmp/launch_params_dbtoojxe'].
        24758873092 1 条回复 最后回复 回复 引用 0
        • 24758873092
          量子之海里的卡夫卡 @2475887309
          最后由 编辑

          @2475887309 大概知道什么情况了，是launch文件中配置地图分辨率的值比较大，导致生成的图没有黑色线，将地图分辨率改为0.01恢复正常了

          1 条回复 最后回复 回复 引用 0
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