[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-26-10-33-59-716084-ip-172-31-50-37.cn-northwest-1.compute.internal-599 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [controller_server-1]: process started with pid [630] [INFO] [smoother_server-2]: process started with pid [632] [INFO] [planner_server-3]: process started with pid [634] [INFO] [behavior_server-4]: process started with pid [636] [INFO] [bt_navigator-5]: process started with pid [657] [INFO] [waypoint_follower-6]: process started with pid [660] [INFO] [velocity_smoother-7]: process started with pid [671] [INFO] [lifecycle_manager-8]: process started with pid [683] [controller_server-1] [INFO] [1777170840.306969660] [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] [1777170840.340695198] [controller_server]: Creating controller server [planner_server-3] [INFO] [1777170840.313004265] [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] [1777170840.330628243] [planner_server]: Creating [planner_server-3] [INFO] [1777170840.367758663] [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] [1777170840.385943692] [global_costmap.global_costmap]: Creating Costmap [velocity_smoother-7] [INFO] [1777170840.420431946] [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. [waypoint_follower-6] [INFO] [1777170840.520475183] [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] [1777170840.532842487] [waypoint_follower]: Creating [lifecycle_manager-8] [INFO] [1777170840.534374348] [lifecycle_manager_navigation]: Creating [lifecycle_manager-8] [INFO] [1777170840.537527634] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [behavior_server-4] [INFO] [1777170840.549715141] [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. [smoother_server-2] [INFO] [1777170840.580223990] [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] [1777170840.593802887] [smoother_server]: Creating smoother server [controller_server-1] [INFO] [1777170840.634353213] [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] [1777170840.635053995] [local_costmap.local_costmap]: Creating Costmap [bt_navigator-5] [INFO] [1777170840.791842700] [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] [1777170840.792015732] [bt_navigator]: Creating [lifecycle_manager-8] [INFO] [1777170841.544922122] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-8] [INFO] [1777170841.545890313] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-1] [INFO] [1777170841.546838414] [controller_server]: Configuring controller interface [controller_server-1] [INFO] [1777170841.547031124] [controller_server]: getting goal checker plugins.. [controller_server-1] [INFO] [1777170841.547103800] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-1] [INFO] [1777170841.547144329] [local_costmap.local_costmap]: Configuring [controller_server-1] [INFO] [1777170841.652836637] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-1] [INFO] [1777170841.737146528] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-1] [INFO] [1777170841.808289382] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-1] [INFO] [1777170841.808335906] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-1] [INFO] [1777170841.822726504] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-1] [INFO] [1777170841.865808726] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-1] [INFO] [1777170841.876109726] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-1] [INFO] [1777170841.877612414] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-1] [INFO] [1777170841.894612467] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-1] [INFO] [1777170841.902635246] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-1] [INFO] [1777170841.958964568] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-1] [INFO] [1777170841.960798633] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.961201932] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-1] [INFO] [1777170841.963437101] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.963947133] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-1] [INFO] [1777170841.964791887] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.965265246] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-1] [INFO] [1777170841.966851306] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.967183914] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-1] [INFO] [1777170841.968505869] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.969033992] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-1] [INFO] [1777170841.969998632] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.971690387] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-1] [INFO] [1777170841.974455294] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777170841.974494378] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-8] [INFO] [1777170841.993882206] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-2] [INFO] [1777170841.994900747] [smoother_server]: Configuring smoother server [smoother_server-2] [INFO] [1777170842.019594940] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-2] [INFO] [1777170842.025664827] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-8] [INFO] [1777170842.070449508] [lifecycle_manager_navigation]: Configuring planner_server [planner_server-3] [INFO] [1777170842.070942276] [planner_server]: Configuring [planner_server-3] [INFO] [1777170842.070993833] [global_costmap.global_costmap]: Configuring [planner_server-3] [INFO] [1777170842.081450838] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-3] [INFO] [1777170842.087780087] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-3] [INFO] [1777170842.091429165] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-3] [INFO] [1777170842.091551519] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-3] [INFO] [1777170842.093891208] [global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-3] [INFO] [1777170842.104743906] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-3] [INFO] [1777170842.104780067] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-3] [INFO] [1777170842.108034769] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-3] [INFO] [1777170842.148740501] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-3] [INFO] [1777170842.149710120] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777170842.150064440] [planner_server]: Planner Server has GridBased planners available. [planner_server-3] [INFO] [1777170842.149595572] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 175 X 155 at 0.050000 m/pix [lifecycle_manager-8] [INFO] [1777170842.184104990] [lifecycle_manager_navigation]: Configuring behavior_server [behavior_server-4] [INFO] [1777170842.185304210] [behavior_server]: Configuring [behavior_server-4] [INFO] [1777170842.241848785] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-4] [INFO] [1777170842.245944122] [behavior_server]: Configuring spin [behavior_server-4] [INFO] [1777170842.311829366] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-4] [INFO] [1777170842.312896135] [behavior_server]: Configuring backup [behavior_server-4] [INFO] [1777170842.327201361] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-4] [INFO] [1777170842.329025151] [behavior_server]: Configuring drive_on_heading [behavior_server-4] [INFO] [1777170842.344805857] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-4] [INFO] [1777170842.350564102] [behavior_server]: Configuring assisted_teleop [behavior_server-4] [INFO] [1777170842.373660730] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-4] [INFO] [1777170842.375352539] [behavior_server]: Configuring wait [lifecycle_manager-8] [INFO] [1777170842.391832732] [lifecycle_manager_navigation]: Configuring bt_navigator [bt_navigator-5] [INFO] [1777170842.392854368] [bt_navigator]: Configuring [lifecycle_manager-8] [INFO] [1777170842.542757427] [lifecycle_manager_navigation]: Configuring waypoint_follower [waypoint_follower-6] [INFO] [1777170842.543773747] [waypoint_follower]: Configuring [waypoint_follower-6] [INFO] [1777170842.596649169] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-8] [INFO] [1777170842.612023833] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-7] [INFO] [1777170842.613064138] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-8] [INFO] [1777170842.618711603] [lifecycle_manager_navigation]: Activating controller_server [controller_server-1] [INFO] [1777170842.618944202] [controller_server]: Activating [controller_server-1] [INFO] [1777170842.618996585] [local_costmap.local_costmap]: Activating [controller_server-1] [INFO] [1777170842.619015236] [local_costmap.local_costmap]: Checking transform [controller_server-1] [INFO] [1777170842.619157049] [local_costmap.local_costmap]: start [controller_server-1] [INFO] [1777170842.670026382] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170842.775698347] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-8] [INFO] [1777170842.775764355] [lifecycle_manager_navigation]: Activating smoother_server [smoother_server-2] [INFO] [1777170842.776883478] [smoother_server]: Activating [smoother_server-2] [INFO] [1777170842.776945970] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170842.904687214] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-8] [INFO] [1777170842.904771520] [lifecycle_manager_navigation]: Activating planner_server [planner_server-3] [INFO] [1777170842.905237695] [planner_server]: Activating [planner_server-3] [INFO] [1777170842.905293120] [global_costmap.global_costmap]: Activating [planner_server-3] [INFO] [1777170842.905311665] [global_costmap.global_costmap]: Checking transform [planner_server-3] [INFO] [1777170842.905390276] [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 11.060000 but the earliest data is at time 11.200000, when looking up transform from frame [base_link] to frame [map] [planner_server-3] [INFO] [1777170843.405505266] [global_costmap.global_costmap]: start [planner_server-3] [INFO] [1777170843.458784937] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777170843.460077029] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170843.566952259] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-8] [INFO] [1777170843.567019631] [lifecycle_manager_navigation]: Activating behavior_server [behavior_server-4] [INFO] [1777170843.567483846] [behavior_server]: Activating [behavior_server-4] [INFO] [1777170843.567524770] [behavior_server]: Activating spin [behavior_server-4] [INFO] [1777170843.567543391] [behavior_server]: Activating backup [behavior_server-4] [INFO] [1777170843.567556498] [behavior_server]: Activating drive_on_heading [behavior_server-4] [INFO] [1777170843.567569479] [behavior_server]: Activating assisted_teleop [behavior_server-4] [INFO] [1777170843.567581964] [behavior_server]: Activating wait [behavior_server-4] [INFO] [1777170843.567598848] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170843.673560569] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-8] [INFO] [1777170843.673621228] [lifecycle_manager_navigation]: Activating bt_navigator [bt_navigator-5] [INFO] [1777170843.674760390] [bt_navigator]: Activating [bt_navigator-5] [INFO] [1777170843.746020104] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170843.863182445] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-8] [INFO] [1777170843.863253730] [lifecycle_manager_navigation]: Activating waypoint_follower [waypoint_follower-6] [INFO] [1777170843.863618215] [waypoint_follower]: Activating [waypoint_follower-6] [INFO] [1777170843.863680094] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170843.971910069] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-8] [INFO] [1777170843.971971969] [lifecycle_manager_navigation]: Activating velocity_smoother [velocity_smoother-7] [INFO] [1777170843.972591873] [velocity_smoother]: Activating [velocity_smoother-7] [INFO] [1777170843.972674124] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777170844.083170867] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-8] [INFO] [1777170844.083233155] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-8] [INFO] [1777170844.083249486] [lifecycle_manager_navigation]: Creating bond timer...