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office_gzweb/logs/run_all_20260425_200001/B_nav2.log

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[INFO] [launch]: All log files can be found below /home/devuser/.ros/log/2026-04-25-20-00-23-466987-ip-172-31-64-247.cn-northwest-1.compute.internal-616
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [647]
[INFO] [smoother_server-2]: process started with pid [649]
[INFO] [planner_server-3]: process started with pid [651]
[INFO] [behavior_server-4]: process started with pid [653]
[INFO] [bt_navigator-5]: process started with pid [666]
[INFO] [waypoint_follower-6]: process started with pid [682]
[INFO] [velocity_smoother-7]: process started with pid [693]
[INFO] [lifecycle_manager-8]: process started with pid [697]
[smoother_server-2] [INFO] [1777118424.182454371] [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] [1777118424.196648754] [smoother_server]: Creating smoother server
[planner_server-3] [INFO] [1777118424.531653317] [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] [1777118424.534428125] [planner_server]: Creating
[planner_server-3] [INFO] [1777118424.556350872] [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] [1777118424.570984031] [global_costmap.global_costmap]: Creating Costmap
[controller_server-1] [INFO] [1777118424.594463221] [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] [1777118424.606859581] [controller_server]: Creating controller server
[controller_server-1] [INFO] [1777118424.876243371] [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] [1777118424.880829928] [local_costmap.local_costmap]: Creating Costmap
[bt_navigator-5] [INFO] [1777118424.909828102] [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] [1777118424.920447501] [bt_navigator]: Creating
[lifecycle_manager-8] [INFO] [1777118425.003835398] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-8] [INFO] [1777118425.059005250] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[waypoint_follower-6] [INFO] [1777118425.137956736] [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] [1777118425.145332464] [waypoint_follower]: Creating
[velocity_smoother-7] [INFO] [1777118425.154568546] [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.
[behavior_server-4] [INFO] [1777118425.255857829] [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] [1777118425.696610225] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-8] [INFO] [1777118425.696727041] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-1] [INFO] [1777118425.697094761] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1777118425.697279703] [controller_server]: getting goal checker plugins..
[controller_server-1] [INFO] [1777118425.697348245] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1777118425.697386852] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1777118425.716761126] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-1] [INFO] [1777118425.732333733] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-1] [INFO] [1777118425.781387846] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-1] [INFO] [1777118425.781844726] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1777118425.790842103] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [INFO] [1777118425.821777992] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1777118425.823044572] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1777118425.823607254] [controller_server]: Controller Server has general_goal_checker goal checkers available.
[controller_server-1] [INFO] [1777118425.840513080] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1777118425.860956325] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1777118425.911820460] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1777118425.914153947] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.914719303] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1777118425.917280999] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.918086082] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1777118425.919649390] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.920453257] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1777118425.922339057] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.922952345] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1777118425.924705317] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.925362784] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1777118425.926637728] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.927239641] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1777118425.928424800] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1777118425.928469993] [controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-8] [INFO] [1777118425.958018792] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-2] [INFO] [1777118425.958551964] [smoother_server]: Configuring smoother server
[smoother_server-2] [INFO] [1777118425.999280851] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-2] [INFO] [1777118426.001571834] [smoother_server]: Smoother Server has simple_smoother smoothers available.
[lifecycle_manager-8] [INFO] [1777118426.029248983] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-3] [INFO] [1777118426.030275115] [planner_server]: Configuring
[planner_server-3] [INFO] [1777118426.030332565] [global_costmap.global_costmap]: Configuring
[planner_server-3] [INFO] [1777118426.056873158] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-3] [INFO] [1777118426.097089451] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-3] [INFO] [1777118426.125265644] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-3] [INFO] [1777118426.125316232] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-3] [INFO] [1777118426.136899295] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-3] [INFO] [1777118426.204888720] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-3] [INFO] [1777118426.204964110] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-3] [INFO] [1777118426.340378719] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-3] [INFO] [1777118426.436121909] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 175 X 155 at 0.050000 m/pix
[planner_server-3] [INFO] [1777118426.443568336] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-3] [INFO] [1777118426.443632095] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-3] [INFO] [1777118426.443997642] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-8] [INFO] [1777118426.463545170] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-4] [INFO] [1777118426.463935038] [behavior_server]: Configuring
[behavior_server-4] [INFO] [1777118426.523335491] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-4] [INFO] [1777118426.525359094] [behavior_server]: Configuring spin
[behavior_server-4] [INFO] [1777118426.550935637] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-4] [INFO] [1777118426.553135127] [behavior_server]: Configuring backup
[behavior_server-4] [INFO] [1777118426.570420507] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-4] [INFO] [1777118426.572293059] [behavior_server]: Configuring drive_on_heading
[behavior_server-4] [INFO] [1777118426.594911090] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-4] [INFO] [1777118426.598058239] [behavior_server]: Configuring assisted_teleop
[behavior_server-4] [INFO] [1777118426.609558929] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-4] [INFO] [1777118426.611331921] [behavior_server]: Configuring wait
[lifecycle_manager-8] [INFO] [1777118426.631687268] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-5] [INFO] [1777118426.632083060] [bt_navigator]: Configuring
[lifecycle_manager-8] [INFO] [1777118426.915861046] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-6] [INFO] [1777118426.916201794] [waypoint_follower]: Configuring
[waypoint_follower-6] [INFO] [1777118426.979172167] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-8] [INFO] [1777118426.984663133] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-7] [INFO] [1777118426.985054115] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-8] [INFO] [1777118426.991397629] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1777118426.991686034] [controller_server]: Activating
[controller_server-1] [INFO] [1777118426.991762399] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1777118426.991783909] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1777118426.991904861] [local_costmap.local_costmap]: start
[controller_server-1] [INFO] [1777118427.043102854] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118427.148638869] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-8] [INFO] [1777118427.148710268] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-2] [INFO] [1777118427.149026024] [smoother_server]: Activating
[smoother_server-2] [INFO] [1777118427.149085355] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118427.267661418] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-8] [INFO] [1777118427.267761884] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-3] [INFO] [1777118427.268891795] [planner_server]: Activating
[planner_server-3] [INFO] [1777118427.268955443] [global_costmap.global_costmap]: Activating
[planner_server-3] [INFO] [1777118427.268975335] [global_costmap.global_costmap]: Checking transform
[planner_server-3] [INFO] [1777118427.269108330] [global_costmap.global_costmap]: start
[planner_server-3] [INFO] [1777118427.320145872] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-3] [INFO] [1777118427.321533264] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118427.430586407] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-8] [INFO] [1777118427.430649946] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-4] [INFO] [1777118427.431032955] [behavior_server]: Activating
[behavior_server-4] [INFO] [1777118427.431081170] [behavior_server]: Activating spin
[behavior_server-4] [INFO] [1777118427.431099921] [behavior_server]: Activating backup
[behavior_server-4] [INFO] [1777118427.431114134] [behavior_server]: Activating drive_on_heading
[behavior_server-4] [INFO] [1777118427.431129343] [behavior_server]: Activating assisted_teleop
[behavior_server-4] [INFO] [1777118427.431143588] [behavior_server]: Activating wait
[behavior_server-4] [INFO] [1777118427.431161917] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118427.535908117] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-8] [INFO] [1777118427.535976520] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-5] [INFO] [1777118427.537070559] [bt_navigator]: Activating
[bt_navigator-5] [INFO] [1777118427.712076965] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118427.824803004] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-8] [INFO] [1777118427.824873199] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-6] [INFO] [1777118427.825810126] [waypoint_follower]: Activating
[waypoint_follower-6] [INFO] [1777118427.825873313] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118427.933743878] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-8] [INFO] [1777118427.933810047] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-7] [INFO] [1777118427.935026811] [velocity_smoother]: Activating
[velocity_smoother-7] [INFO] [1777118427.935115740] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[lifecycle_manager-8] [INFO] [1777118428.047252725] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-8] [INFO] [1777118428.047319479] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-8] [INFO] [1777118428.047338516] [lifecycle_manager_navigation]: Creating bond timer...
[controller_server-1] [INFO] [1777143012.865787543] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_scan' at time 7497.700 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
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