[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-26-11-00-03-447722-ip-172-31-71-175.cn-northwest-1.compute.internal-596 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [controller_server-1]: process started with pid [629] [INFO] [smoother_server-2]: process started with pid [631] [INFO] [planner_server-3]: process started with pid [633] [INFO] [behavior_server-4]: process started with pid [635] [INFO] [bt_navigator-5]: process started with pid [638] [INFO] [waypoint_follower-6]: process started with pid [651] [INFO] [velocity_smoother-7]: process started with pid [662] [INFO] [lifecycle_manager-8]: process started with pid [692] [controller_server-1] [INFO] [1777172404.102449707] [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] [1777172404.144283988] [controller_server]: Creating controller server [smoother_server-2] [INFO] [1777172404.157563775] [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] [1777172404.162556374] [smoother_server]: Creating smoother server [planner_server-3] [INFO] [1777172404.237774120] [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. [velocity_smoother-7] [INFO] [1777172404.213526030] [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] [1777172404.273764211] [planner_server]: Creating [behavior_server-4] [INFO] [1777172404.281255002] [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. [controller_server-1] [INFO] [1777172404.302308087] [local_costmap.local_costmap]: [controller_server-1] local_costmap lifecycle node launched. [controller_server-1] Waiting on external lifecycle transitions to activate [lifecycle_manager-8] [INFO] [1777172404.302402783] [lifecycle_manager_navigation]: Creating [controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information. [lifecycle_manager-8] [INFO] [1777172404.304459566] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients [controller_server-1] [INFO] [1777172404.331379503] [local_costmap.local_costmap]: Creating Costmap [waypoint_follower-6] [INFO] [1777172404.577582334] [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] [1777172404.584646513] [waypoint_follower]: Creating [bt_navigator-5] [INFO] [1777172404.735319154] [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] [1777172404.794747686] [bt_navigator]: Creating [planner_server-3] [INFO] [1777172404.803256061] [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] [1777172404.803995949] [global_costmap.global_costmap]: Creating Costmap [lifecycle_manager-8] [INFO] [1777172405.354766254] [lifecycle_manager_navigation]: Starting managed nodes bringup... [lifecycle_manager-8] [INFO] [1777172405.355218845] [lifecycle_manager_navigation]: Configuring controller_server [controller_server-1] [INFO] [1777172405.355743708] [controller_server]: Configuring controller interface [controller_server-1] [INFO] [1777172405.355969450] [controller_server]: getting goal checker plugins.. [controller_server-1] [INFO] [1777172405.356061102] [controller_server]: Controller frequency set to 20.0000Hz [controller_server-1] [INFO] [1777172405.356104559] [local_costmap.local_costmap]: Configuring [controller_server-1] [INFO] [1777172405.367657163] [local_costmap.local_costmap]: Using plugin "voxel_layer" [controller_server-1] [INFO] [1777172405.385443556] [local_costmap.local_costmap]: Subscribed to Topics: scan [controller_server-1] [INFO] [1777172405.422331330] [local_costmap.local_costmap]: Initialized plugin "voxel_layer" [controller_server-1] [INFO] [1777172405.422639141] [local_costmap.local_costmap]: Using plugin "inflation_layer" [controller_server-1] [INFO] [1777172405.432534974] [local_costmap.local_costmap]: Initialized plugin "inflation_layer" [controller_server-1] [INFO] [1777172405.481663532] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker [controller_server-1] [INFO] [1777172405.493350027] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker [controller_server-1] [INFO] [1777172405.498139807] [controller_server]: Controller Server has general_goal_checker goal checkers available. [controller_server-1] [INFO] [1777172405.521953211] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner [controller_server-1] [INFO] [1777172405.525921155] [controller_server]: Setting transform_tolerance to 0.200000 [controller_server-1] [INFO] [1777172405.561604807] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic) [controller_server-1] [INFO] [1777172405.563962133] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.564419493] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic) [controller_server-1] [INFO] [1777172405.566878777] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.567342542] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic) [controller_server-1] [INFO] [1777172405.568195066] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.568626295] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic) [controller_server-1] [INFO] [1777172405.570051751] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.570481305] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic) [controller_server-1] [INFO] [1777172405.571589937] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.571922219] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic) [controller_server-1] [INFO] [1777172405.572552021] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.572911018] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic) [controller_server-1] [INFO] [1777172405.573502883] [controller_server]: Critic plugin initialized [controller_server-1] [INFO] [1777172405.573537795] [controller_server]: Controller Server has FollowPath controllers available. [lifecycle_manager-8] [INFO] [1777172405.596216105] [lifecycle_manager_navigation]: Configuring smoother_server [smoother_server-2] [INFO] [1777172405.597132590] [smoother_server]: Configuring smoother server [smoother_server-2] [INFO] [1777172405.621007325] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-2] [INFO] [1777172405.621506166] [smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-8] [INFO] [1777172405.657423308] [lifecycle_manager_navigation]: Configuring planner_server [planner_server-3] [INFO] [1777172405.657761013] [planner_server]: Configuring [planner_server-3] [INFO] [1777172405.657816915] [global_costmap.global_costmap]: Configuring [planner_server-3] [INFO] [1777172405.711169195] [global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-3] [INFO] [1777172405.761432443] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability [planner_server-3] [INFO] [1777172405.766758497] [global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-3] [INFO] [1777172405.767441006] [global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-3] [INFO] [1777172405.768209421] [global_costmap.global_costmap]: Subscribed to Topics: scan [planner_server-3] [INFO] [1777172405.776132967] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-3] [INFO] [1777172405.776165759] [global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-3] [INFO] [1777172405.777466875] [global_costmap.global_costmap]: Initialized plugin "inflation_layer" [planner_server-3] [INFO] [1777172405.852424716] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 175 X 155 at 0.050000 m/pix [planner_server-3] [INFO] [1777172405.858808330] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-3] [INFO] [1777172405.858865623] [planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777172405.859178683] [planner_server]: Planner Server has GridBased planners available. [lifecycle_manager-8] [INFO] [1777172405.890947163] [lifecycle_manager_navigation]: Configuring behavior_server [behavior_server-4] [INFO] [1777172405.895042936] [behavior_server]: Configuring [behavior_server-4] [INFO] [1777172405.930057548] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-4] [INFO] [1777172405.931446149] [behavior_server]: Configuring spin [behavior_server-4] [INFO] [1777172405.976542450] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-4] [INFO] [1777172405.977829656] [behavior_server]: Configuring backup [behavior_server-4] [INFO] [1777172406.038817938] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-4] [INFO] [1777172406.041926695] [behavior_server]: Configuring drive_on_heading [behavior_server-4] [INFO] [1777172406.089219717] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop [behavior_server-4] [INFO] [1777172406.092640595] [behavior_server]: Configuring assisted_teleop [behavior_server-4] [INFO] [1777172406.131313238] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-4] [INFO] [1777172406.132500234] [behavior_server]: Configuring wait [lifecycle_manager-8] [INFO] [1777172406.151022365] [lifecycle_manager_navigation]: Configuring bt_navigator [bt_navigator-5] [INFO] [1777172406.151613226] [bt_navigator]: Configuring [lifecycle_manager-8] [INFO] [1777172406.441909146] [lifecycle_manager_navigation]: Configuring waypoint_follower [waypoint_follower-6] [INFO] [1777172406.442879512] [waypoint_follower]: Configuring [waypoint_follower-6] [INFO] [1777172406.484204440] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-8] [INFO] [1777172406.494111093] [lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-7] [INFO] [1777172406.494679247] [velocity_smoother]: Configuring velocity smoother [lifecycle_manager-8] [INFO] [1777172406.500899663] [lifecycle_manager_navigation]: Activating controller_server [controller_server-1] [INFO] [1777172406.501116028] [controller_server]: Activating [controller_server-1] [INFO] [1777172406.501159971] [local_costmap.local_costmap]: Activating [controller_server-1] [INFO] [1777172406.501180255] [local_costmap.local_costmap]: Checking transform [controller_server-1] [INFO] [1777172406.501299576] [local_costmap.local_costmap]: start [controller_server-1] [INFO] [1777172406.702689065] [controller_server]: Creating bond (controller_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172406.813531962] [lifecycle_manager_navigation]: Server controller_server connected with bond. [lifecycle_manager-8] [INFO] [1777172406.813600930] [lifecycle_manager_navigation]: Activating smoother_server [smoother_server-2] [INFO] [1777172406.814051157] [smoother_server]: Activating [smoother_server-2] [INFO] [1777172406.814109343] [smoother_server]: Creating bond (smoother_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172406.925092300] [lifecycle_manager_navigation]: Server smoother_server connected with bond. [lifecycle_manager-8] [INFO] [1777172406.925162531] [lifecycle_manager_navigation]: Activating planner_server [planner_server-3] [INFO] [1777172406.925647791] [planner_server]: Activating [planner_server-3] [INFO] [1777172406.925713123] [global_costmap.global_costmap]: Activating [planner_server-3] [INFO] [1777172406.925733836] [global_costmap.global_costmap]: Checking transform [planner_server-3] [INFO] [1777172406.925861265] [global_costmap.global_costmap]: start [planner_server-3] [INFO] [1777172406.977963033] [planner_server]: Activating plugin GridBased of type NavfnPlanner [planner_server-3] [INFO] [1777172406.979363869] [planner_server]: Creating bond (planner_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172407.085015532] [lifecycle_manager_navigation]: Server planner_server connected with bond. [lifecycle_manager-8] [INFO] [1777172407.085094338] [lifecycle_manager_navigation]: Activating behavior_server [behavior_server-4] [INFO] [1777172407.085768634] [behavior_server]: Activating [behavior_server-4] [INFO] [1777172407.085814938] [behavior_server]: Activating spin [behavior_server-4] [INFO] [1777172407.085835798] [behavior_server]: Activating backup [behavior_server-4] [INFO] [1777172407.085851233] [behavior_server]: Activating drive_on_heading [behavior_server-4] [INFO] [1777172407.085865968] [behavior_server]: Activating assisted_teleop [behavior_server-4] [INFO] [1777172407.085881029] [behavior_server]: Activating wait [behavior_server-4] [INFO] [1777172407.085900279] [behavior_server]: Creating bond (behavior_server) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172407.199548868] [lifecycle_manager_navigation]: Server behavior_server connected with bond. [lifecycle_manager-8] [INFO] [1777172407.199619522] [lifecycle_manager_navigation]: Activating bt_navigator [bt_navigator-5] [INFO] [1777172407.200994003] [bt_navigator]: Activating [bt_navigator-5] [INFO] [1777172407.410228473] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172407.524654071] [lifecycle_manager_navigation]: Server bt_navigator connected with bond. [lifecycle_manager-8] [INFO] [1777172407.524747938] [lifecycle_manager_navigation]: Activating waypoint_follower [waypoint_follower-6] [INFO] [1777172407.525227893] [waypoint_follower]: Activating [waypoint_follower-6] [INFO] [1777172407.525285758] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172407.629257840] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond. [lifecycle_manager-8] [INFO] [1777172407.629323171] [lifecycle_manager_navigation]: Activating velocity_smoother [velocity_smoother-7] [INFO] [1777172407.629743080] [velocity_smoother]: Activating [velocity_smoother-7] [INFO] [1777172407.629823843] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager. [lifecycle_manager-8] [INFO] [1777172407.742615447] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond. [lifecycle_manager-8] [INFO] [1777172407.742702794] [lifecycle_manager_navigation]: Managed nodes are active [lifecycle_manager-8] [INFO] [1777172407.742734567] [lifecycle_manager_navigation]: Creating bond timer...