openssh连接到运行ROS2的系统导致ros2系统崩溃
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通过电脑PC端和MobaXterm工具ssh连接Ubuntu22.04下的ROS2系统会导致运行的机器人的导航崩溃。
以下是报错打印信息：
r dropping message: frame 'camera_depth_frame' at time 1752048089.514 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:30 localhost.localdomain bash[846]: [map.py-2] [controller_server-1] [INFO] [1752048090.733266201] [local_costmap.local_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 1752048089.619 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:30 localhost.localdomain bash[846]: [map.py-2] [controller_server-1] [INFO] [1752048090.833015331] [local_costmap.local_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 1752048089.716 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:30 localhost.localdomain bash[846]: [map.py-2] [controller_server-1] [INFO] [1752048090.878677101] [local_costmap.local_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 1752048089.818 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.431151796] [charging_manager]: 电池电量: 67.0%
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.433845382] [charging_manager]: 当前机器人状态: IDLE
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.438878256] [charging_manager]: 电池电量: 67.0%
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.440975554] [charging_manager]: 充电请求标志: False
Jul 09 00:01:31 localhost.localdomain bash[846]: [charging_manager.py-4] [INFO] [1752048091.443213488] [charging_manager]: 恢复请求标志: False
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [amcl-2] [INFO] [1752048092.257164954] [amcl]: Message Filter dropping message: frame 'laser_link' at time 1752048091.180 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.278662931] [lifecycle_manager_localization]: Have not received a heartbeat from amcl.
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [ERROR] [1752048092.278842934] [lifecycle_manager_localization]: CRITICAL FAILURE: SERVER amcl IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.278918293] [lifecycle_manager_localization]: Terminating bond timer...
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.278970490] [lifecycle_manager_localization]: Resetting managed nodes...
Jul 09 00:01:32 localhost.localdomain bash[846]: [localization_manager.py-3] [lifecycle_manager-3] [INFO] [1752048092.279018979] [lifecycle_manager_localization]: Deactivating amcl
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] [INFO] [1752048092.409753588] [make_robot_pose]: TF Status:
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] map -> odom: OK
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] odom -> base_footprint: OK
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] Last successful pose: 6.2s ago
Jul 09 00:01:32 localhost.localdomain bash[846]: [make_robot_pose.py-6] Consecutive timeouts: 0
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083513167] [lifecycle_manager_navigation]: Have not received a heartbeat from controller_server.
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [ERROR] [1752048093.083654637] [lifecycle_manager_navigation]: CRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083700544] [lifecycle_manager_navigation]: Terminating bond timer...
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083733537] [lifecycle_manager_navigation]: Resetting managed nodes...
Jul 09 00:01:33 localhost.localdomain bash[846]: [map.py-2] [lifecycle_manager-8] [INFO] [1752048093.083766405] [lifecycle_manager_navigation]: Deactivating velocity_smoother
Jul 09 00:01:37 localhost.localdomain bash[846]: [map.py-2] [behavior_server-4] [WARN] [1752048097.340890566] [behavior_server]: Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading
Jul 09 00:01:37 localhost.localdomain bash[846]: [map.py-2] [behavior_server-4] [WARN] [1752048097.341021872] [behavior_server]: backup failed
Jul 09 00:01:37 localhost.localdomain bash[846]: [map.py-2] [behavior_server-4] [WARN] [1752048097.341065612] [behavior_server]: [backup] [ActionServer] Aborting handle.
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] [INFO] [1752048097.410241699] [make_robot_pose]: TF Status:
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] map -> odom: OK
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] odom -> base_footprint: OK
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] Last successful pose: 11.2s ago
Jul 09 00:01:37 localhost.localdomain bash[846]: [make_robot_pose.py-6] Consecutive timeouts: 0
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] [INFO] [1752048102.411102926] [make_robot_pose]: TF Status:
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] map -> odom: OK
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] odom -> base_footprint: OK
Jul 09 00:01:42 localhost.localdomain bash[846]: [make_robot_pose.py-6] Last successful pose: 16.2s ago