[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-26-10-30-21-079385-ip-172-31-64-71.cn-northwest-1.compute.internal-647 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [controller_server-1]: process started with pid [685] [INFO] [smoother_server-2]: process started with pid [687] [INFO] [planner_server-3]: process started with pid [689] [INFO] [behavior_server-4]: process started with pid [691] [INFO] [bt_navigator-5]: process started with pid [694] [INFO] [waypoint_follower-6]: process started with pid [716] [INFO] [velocity_smoother-7]: process started with pid [737] [INFO] [lifecycle_manager-8]: process started with pid [743] [controller_server-1] [INFO] [1777170621.985553413] [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] [1777170622.006387234] [controller_server]: Creating controller server [smoother_server-2] [INFO] [1777170621.994814045] [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] [1777170622.001345993] [smoother_server]: Creating smoother server [bt_navigator-5] [INFO] [1777170622.181062951] [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] [1777170622.181263592] [bt_navigator]: Creating [controller_server-1] [INFO] [1777170622.328730554] [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. [controller_server-1] [INFO] [1777170622.338550581] [local_costmap.local_costmap]: Creating Costmap [lifecycle_manager-8] [INFO] [1777170622.343099323] [lifecycle_manager_navigation]: Creating [lifecycle_manager-8] [INFO] [1777170622.356087585] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [behavior_server-4] [INFO] [1777170622.437818369] [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. [waypoint_follower-6] [INFO] [1777170622.466954092] [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] [1777170622.474027359] [waypoint_follower]: Creating [velocity_smoother-7] [INFO] [1777170622.522686002] [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. [planner_server-3] [INFO] [1777170622.683060851] [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] [1777170622.689023757] [planner_server]: Creating [planner_server-3] [INFO] [1777170622.884221724] [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] [1777170622.885539752] [global_costmap.global_costmap]: Creating Costmap [lifecycle_manager-8] [INFO] [1777170623.367933154] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-8] [INFO] [1777170623.368324215] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-1] [INFO] [1777170623.369614964] [controller_server]: Configuring controller interface [controller_server-1] [INFO] [1777170623.369829756] [controller_server]: getting goal checker plugins.. [controller_server-1] [INFO] [1777170623.369909808] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-1] [INFO] [1777170623.369960857] [local_costmap.local_costmap]: Configuring [controller_server-1] [INFO] [1777170623.392090256] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-1] [INFO] [1777170623.401840731] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-1] [INFO] [1777170623.434569540] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-1] [INFO] [1777170623.434617432] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-1] [INFO] [1777170623.437353249] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-1] [INFO] [1777170623.491161297] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-1] [INFO] [1777170623.493705842] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-1] [INFO] [1777170623.495261679] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-1] [INFO] [1777170623.503711366] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-1] [INFO] [1777170623.504276102] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-1] [INFO] [1777170623.575452263] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-1] [INFO] [1777170623.580171457] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.581562021] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-1] [INFO] [1777170623.585099936] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.586262052] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-1] [INFO] [1777170623.592030470] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.593277629] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-1] [INFO] [1777170623.595656710] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.596875048] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-1] [INFO] [1777170623.602395506] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.603658650] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-1] [INFO] [1777170623.605583876] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.606765938] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-1] [INFO] [1777170623.608608361] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170623.609076859] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-8] [INFO] [1777170623.663566823] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-2] [INFO] [1777170623.664763656] [smoother_server]: Configuring smoother server [smoother_server-2] [INFO] [1777170623.694235441] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-2] [INFO] [1777170623.694548954] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-8] [INFO] [1777170623.747547442] [lifecycle_manager_navigation]: Configuring planner_server [planner_server-3] [INFO] [1777170623.749119635] [planner_server]: Configuring [planner_server-3] [INFO] [1777170623.749193874] [global_costmap.global_costmap]: Configuring [planner_server-3] [INFO] [1777170623.781817232] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-3] [INFO] [1777170623.804458699] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-3] [INFO] [1777170623.812242553] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-3] [INFO] [1777170623.813238816] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-3] [INFO] [1777170623.817652264] [global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-3] [INFO] [1777170623.861697394] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-3] [INFO] [1777170623.864696784] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-3] [INFO] [1777170623.877469866] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-3] [INFO] [1777170623.921192789] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-3] [INFO] [1777170623.921251933] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777170623.921937351] [planner_server]: Planner Server has GridBased planners available. [planner_server-3] [INFO] [1777170623.928518893] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 175 X 155 at 0.050000 m/pix [lifecycle_manager-8] [INFO] [1777170624.005057511] [lifecycle_manager_navigation]: Configuring behavior_server [behavior_server-4] [INFO] [1777170624.006230035] [behavior_server]: Configuring [behavior_server-4] [INFO] [1777170624.070651729] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-4] [INFO] [1777170624.073318026] [behavior_server]: Configuring spin [behavior_server-4] [INFO] [1777170624.174146370] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-4] [INFO] [1777170624.175506124] [behavior_server]: Configuring backup [behavior_server-4] [INFO] [1777170624.232021496] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-4] [INFO] [1777170624.233172763] [behavior_server]: Configuring drive_on_heading [behavior_server-4] [INFO] [1777170624.260471433] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-4] [INFO] [1777170624.264883734] [behavior_server]: Configuring assisted_teleop [behavior_server-4] [INFO] [1777170624.310760187] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-4] [INFO] [1777170624.312518028] [behavior_server]: Configuring wait [lifecycle_manager-8] [INFO] [1777170624.339938664] [lifecycle_manager_navigation]: Configuring bt_navigator [bt_navigator-5] [INFO] [1777170624.340932881] [bt_navigator]: Configuring [lifecycle_manager-8] [INFO] [1777170624.611193499] [lifecycle_manager_navigation]: Configuring waypoint_follower [waypoint_follower-6] [INFO] [1777170624.612020017] [waypoint_follower]: Configuring [waypoint_follower-6] [INFO] [1777170624.764730095] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-8] [INFO] [1777170624.777633339] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-7] [INFO] [1777170624.778853988] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-8] [INFO] [1777170624.785473702] [lifecycle_manager_navigation]: Activating controller_server [controller_server-1] [INFO] [1777170624.786594811] [controller_server]: Activating [controller_server-1] [INFO] [1777170624.786655588] [local_costmap.local_costmap]: Activating [controller_server-1] [INFO] [1777170624.786680372] [local_costmap.local_costmap]: Checking transform [controller_server-1] [INFO] [1777170624.786803765] [local_costmap.local_costmap]: start [controller_server-1] [INFO] [1777170624.837817404] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170624.952516129] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-8] [INFO] [1777170624.952581405] [lifecycle_manager_navigation]: Activating smoother_server [smoother_server-2] [INFO] [1777170624.959233025] [smoother_server]: Activating [smoother_server-2] [INFO] [1777170624.959304072] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170625.070847876] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-8] [INFO] [1777170625.070928782] [lifecycle_manager_navigation]: Activating planner_server [planner_server-3] [INFO] [1777170625.074921353] [planner_server]: Activating [planner_server-3] [INFO] [1777170625.075005102] [global_costmap.global_costmap]: Activating [planner_server-3] [INFO] [1777170625.075027988] [global_costmap.global_costmap]: Checking transform [planner_server-3] [INFO] [1777170625.075189878] [global_costmap.global_costmap]: start [planner_server-3] [INFO] [1777170625.126208532] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777170625.128063843] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170625.249122510] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-8] [INFO] [1777170625.249190243] [lifecycle_manager_navigation]: Activating behavior_server [behavior_server-4] [INFO] [1777170625.249580602] [behavior_server]: Activating [behavior_server-4] [INFO] [1777170625.249625201] [behavior_server]: Activating spin [behavior_server-4] [INFO] [1777170625.249645118] [behavior_server]: Activating backup [behavior_server-4] [INFO] [1777170625.249659152] [behavior_server]: Activating drive_on_heading [behavior_server-4] [INFO] [1777170625.249671785] [behavior_server]: Activating assisted_teleop [behavior_server-4] [INFO] [1777170625.249684492] [behavior_server]: Activating wait [behavior_server-4] [INFO] [1777170625.249702615] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170625.361910232] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-8] [INFO] [1777170625.362031394] [lifecycle_manager_navigation]: Activating bt_navigator [bt_navigator-5] [INFO] [1777170625.362670635] [bt_navigator]: Activating [bt_navigator-5] [INFO] [1777170625.618843075] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170625.743863562] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-8] [INFO] [1777170625.743931352] [lifecycle_manager_navigation]: Activating waypoint_follower [waypoint_follower-6] [INFO] [1777170625.744312924] [waypoint_follower]: Activating [waypoint_follower-6] [INFO] [1777170625.744369437] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170625.847818380] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-8] [INFO] [1777170625.847883133] [lifecycle_manager_navigation]: Activating velocity_smoother [velocity_smoother-7] [INFO] [1777170625.848211756] [velocity_smoother]: Activating [velocity_smoother-7] [INFO] [1777170625.848303077] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170625.958297271] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-8] [INFO] [1777170625.958357433] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-8] [INFO] [1777170625.958374474] [lifecycle_manager_navigation]: Creating bond timer...