[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-25-11-35-40-955559-ip-172-31-74-12.cn-northwest-1.compute.internal-8201 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [controller_server-1]: process started with pid [8257] [INFO] [smoother_server-2]: process started with pid [8259] [INFO] [planner_server-3]: process started with pid [8269] [INFO] [behavior_server-4]: process started with pid [8273] [INFO] [bt_navigator-5]: process started with pid [8277] [INFO] [waypoint_follower-6]: process started with pid [8279] [INFO] [velocity_smoother-7]: process started with pid [8282] [INFO] [lifecycle_manager-8]: process started with pid [8293] [controller_server-1] [INFO] [1777116941.728012848] [controller_server]: [controller_server-1] controller_server lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [controller_server-1] [INFO] [1777116941.751632059] [controller_server]: Creating controller server [waypoint_follower-6] [INFO] [1777116941.773407531] [waypoint_follower]: [waypoint_follower-6] waypoint_follower lifecycle node launched. [waypoint_follower-6] Waiting on external lifecycle transitions to activate [waypoint_follower-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [waypoint_follower-6] [INFO] [1777116941.781658240] [waypoint_follower]: Creating [velocity_smoother-7] [INFO] [1777116941.844214157] [velocity_smoother]: [velocity_smoother-7] velocity_smoother lifecycle node launched. [velocity_smoother-7] Waiting on external lifecycle transitions to activate [velocity_smoother-7] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-8] [INFO] [1777116941.859372148] [lifecycle_manager_navigation]: Creating [lifecycle_manager-8] [INFO] [1777116941.862505278] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [bt_navigator-5] [INFO] [1777116941.919076455] [bt_navigator]: [bt_navigator-5] bt_navigator lifecycle node launched. [bt_navigator-5] Waiting on external lifecycle transitions to activate [bt_navigator-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [bt_navigator-5] [INFO] [1777116941.920132423] [bt_navigator]: Creating [controller_server-1] [INFO] [1777116941.930179959] [local_costmap.local_costmap]: [controller_server-1] local_costmap lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-3] [INFO] [1777116941.946427023] [planner_server]: [planner_server-3] planner_server lifecycle node launched. [planner_server-3] Waiting on external lifecycle transitions to activate [planner_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-3] [INFO] [1777116941.950331025] [planner_server]: Creating [planner_server-3] [INFO] [1777116941.960997570] [global_costmap.global_costmap]: [planner_server-3] global_costmap lifecycle node launched. [planner_server-3] Waiting on external lifecycle transitions to activate [planner_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [planner_server-3] [INFO] [1777116941.968991068] [global_costmap.global_costmap]: Creating Costmap [controller_server-1] [INFO] [1777116941.972574921] [local_costmap.local_costmap]: Creating Costmap [smoother_server-2] [INFO] [1777116942.078166261] [smoother_server]: [smoother_server-2] smoother_server lifecycle node launched. [smoother_server-2] Waiting on external lifecycle transitions to activate [smoother_server-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [smoother_server-2] [INFO] [1777116942.082435463] [smoother_server]: Creating smoother server [behavior_server-4] [INFO] [1777116942.289471093] [behavior_server]: [behavior_server-4] behavior_server lifecycle node launched. [behavior_server-4] Waiting on external lifecycle transitions to activate [behavior_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-8] [INFO] [1777116942.953770750] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-8] [INFO] [1777116942.955239930] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-1] [INFO] [1777116943.126953765] [controller_server]: Configuring controller interface [controller_server-1] [INFO] [1777116943.133451964] [controller_server]: getting goal checker plugins.. [controller_server-1] [INFO] [1777116943.133591590] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-1] [INFO] [1777116943.133640090] [local_costmap.local_costmap]: Configuring [controller_server-1] [INFO] [1777116943.175755042] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-1] [INFO] [1777116943.190930577] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-1] [INFO] [1777116943.249292705] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-1] [INFO] [1777116943.250097100] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-1] [INFO] [1777116943.253418141] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-1] [INFO] [1777116943.306551234] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-1] [INFO] [1777116943.308710026] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-1] [INFO] [1777116943.309996093] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-1] [INFO] [1777116943.323960776] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-1] [INFO] [1777116943.325608987] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-1] [INFO] [1777116943.402847788] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-1] [INFO] [1777116943.405727784] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.407172951] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-1] [INFO] [1777116943.407829051] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.408054912] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-1] [INFO] [1777116943.408482030] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.408635470] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-1] [INFO] [1777116943.410468837] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.411025016] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-1] [INFO] [1777116943.411523147] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.411704505] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-1] [INFO] [1777116943.412034408] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.412185947] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-1] [INFO] [1777116943.412481781] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777116943.412511695] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-8] [INFO] [1777116943.435053648] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-2] [INFO] [1777116943.439318248] [smoother_server]: Configuring smoother server [smoother_server-2] [INFO] [1777116943.464079004] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-2] [INFO] [1777116943.467160438] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-8] [INFO] [1777116943.504681551] [lifecycle_manager_navigation]: Configuring planner_server [planner_server-3] [INFO] [1777116943.506301541] [planner_server]: Configuring [planner_server-3] [INFO] [1777116943.506352135] [global_costmap.global_costmap]: Configuring [planner_server-3] [INFO] [1777116943.541958154] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-3] [INFO] [1777116943.546231813] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-3] [INFO] [1777116943.548536859] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-3] [INFO] [1777116943.548565102] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-3] [INFO] [1777116943.548877295] [global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-3] [INFO] [1777116943.552491431] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-3] [INFO] [1777116943.552526342] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-3] [INFO] [1777116943.553209469] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-3] [INFO] [1777116943.594499396] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 175 X 155 at 0.050000 m/pix [planner_server-3] [INFO] [1777116943.600584339] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-3] [INFO] [1777116943.600635540] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777116943.609053672] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-8] [INFO] [1777116943.652881921] [lifecycle_manager_navigation]: Configuring behavior_server [behavior_server-4] [INFO] [1777116943.653881370] [behavior_server]: Configuring [behavior_server-4] [INFO] [1777116943.684776589] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-4] [INFO] [1777116943.685927354] [behavior_server]: Configuring spin [behavior_server-4] [INFO] [1777116943.739173107] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-4] [INFO] [1777116943.745235676] [behavior_server]: Configuring backup [behavior_server-4] [INFO] [1777116943.779962831] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-4] [INFO] [1777116943.781299960] [behavior_server]: Configuring drive_on_heading [behavior_server-4] [INFO] [1777116943.806383047] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-4] [INFO] [1777116943.809070131] [behavior_server]: Configuring assisted_teleop [behavior_server-4] [INFO] [1777116943.818867064] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-4] [INFO] [1777116943.820050987] [behavior_server]: Configuring wait [lifecycle_manager-8] [INFO] [1777116943.825951149] [lifecycle_manager_navigation]: Configuring bt_navigator [bt_navigator-5] [INFO] [1777116943.826512172] [bt_navigator]: Configuring [lifecycle_manager-8] [INFO] [1777116944.120890195] [lifecycle_manager_navigation]: Configuring waypoint_follower [waypoint_follower-6] [INFO] [1777116944.122637073] [waypoint_follower]: Configuring [waypoint_follower-6] [INFO] [1777116944.259794035] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-8] [INFO] [1777116944.271930340] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-7] [INFO] [1777116944.272610054] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-8] [INFO] [1777116944.283044860] [lifecycle_manager_navigation]: Activating controller_server [controller_server-1] [INFO] [1777116944.283589953] [controller_server]: Activating [controller_server-1] [INFO] [1777116944.283639986] [local_costmap.local_costmap]: Activating [controller_server-1] [INFO] [1777116944.283659324] [local_costmap.local_costmap]: Checking transform [controller_server-1] [INFO] [1777116944.283791936] [local_costmap.local_costmap]: start [controller_server-1] [INFO] [1777116944.334682396] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116944.439528151] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-8] [INFO] [1777116944.439589457] [lifecycle_manager_navigation]: Activating smoother_server [smoother_server-2] [INFO] [1777116944.440045809] [smoother_server]: Activating [smoother_server-2] [INFO] [1777116944.440095907] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116944.549781096] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-8] [INFO] [1777116944.549841623] [lifecycle_manager_navigation]: Activating planner_server [planner_server-3] [INFO] [1777116944.551086161] [planner_server]: Activating [planner_server-3] [INFO] [1777116944.551147369] [global_costmap.global_costmap]: Activating [planner_server-3] [INFO] [1777116944.551168180] [global_costmap.global_costmap]: Checking transform [planner_server-3] [INFO] [1777116944.551260011] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 10.949000 but the earliest data is at time 11.000000, when looking up transform from frame [base_link] to frame [map] [planner_server-3] [INFO] [1777116945.051372635] [global_costmap.global_costmap]: start [planner_server-3] [INFO] [1777116945.102609593] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777116945.103870127] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116945.216022006] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-8] [INFO] [1777116945.216092763] [lifecycle_manager_navigation]: Activating behavior_server [behavior_server-4] [INFO] [1777116945.216445452] [behavior_server]: Activating [behavior_server-4] [INFO] [1777116945.216485728] [behavior_server]: Activating spin [behavior_server-4] [INFO] [1777116945.216505432] [behavior_server]: Activating backup [behavior_server-4] [INFO] [1777116945.216520705] [behavior_server]: Activating drive_on_heading [behavior_server-4] [INFO] [1777116945.216534606] [behavior_server]: Activating assisted_teleop [behavior_server-4] [INFO] [1777116945.216548946] [behavior_server]: Activating wait [behavior_server-4] [INFO] [1777116945.216567843] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116945.321671870] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-8] [INFO] [1777116945.321728974] [lifecycle_manager_navigation]: Activating bt_navigator [bt_navigator-5] [INFO] [1777116945.322365939] [bt_navigator]: Activating [bt_navigator-5] [INFO] [1777116945.654247689] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116945.780263957] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-8] [INFO] [1777116945.780331253] [lifecycle_manager_navigation]: Activating waypoint_follower [waypoint_follower-6] [INFO] [1777116945.780674948] [waypoint_follower]: Activating [waypoint_follower-6] [INFO] [1777116945.780727852] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116945.884455945] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-8] [INFO] [1777116945.884520012] [lifecycle_manager_navigation]: Activating velocity_smoother [velocity_smoother-7] [INFO] [1777116945.884867228] [velocity_smoother]: Activating [velocity_smoother-7] [INFO] [1777116945.884944072] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777116945.996008177] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-8] [INFO] [1777116945.996073177] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-8] [INFO] [1777116945.996097665] [lifecycle_manager_navigation]: Creating bond timer... [velocity_smoother-7] [INFO] [1777118013.756898555] [rclcpp]: signal_handler(SIGINT/SIGTERM) [velocity_smoother-7] [INFO] [1777118013.757043206] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)