Bug report
Required Info:
- Operating System:
- ROS2 Version:
- Version or commit hash:
- current commit hash(error version): da5edbf
- previous commit hash: e5394ae
- DDS implementation:
Steps to reproduce issue
In the navigation launch file, the controller server was executed by lifecycle manager.
lifecycle_nodes = ['controller_server',
'smoother_server',
'planner_server',
'behavior_server',
'bt_navigator',
'waypoint_follower',
'velocity_smoother']In previous commit versions, localcostmap worked without any problems, but after pulling to the latest version, the following problems occurred.
[controller_server-15] terminate called after throwing an instance of 'std::runtime_error'
[controller_server-15] what(): Node '/local_costmap/local_costmap' has already been added to an executor.
...
[ERROR] [controller_server-15]: process has died [pid 127358, exit code -6, cmd '/home/dujeong/nav2_ws/install/nav2_controller/lib/nav2_controller/controller_server --ros-args -r __node:=controller_server -r __ns:=/ --params-file /tmp/tmp_9cg6p6n -r cmd_vel:=cmd_vel_nav -r /tf:=tf -r /tf_static:=tf_static'].
When searching for costmap-related nodes as follows when starting the system, it was confirmed that two /local_costmap/local_costmap nodes were created with the same name and then changed to one.
$ ros2 node list|grep cost
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/global_costmap/global_costmap
/local_costmap/local_costmap
/local_costmap/local_costmap
$ ros2 node list|grep cost
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/global_costmap/global_costmap
/local_costmap/local_costmap
After that, the costmap topic will not come out, and the robot will not be able to drive.
Expected behavior
Actual behavior
Additional information
Feature request
Feature description
Implementation considerations
Bug report
Required Info:
Steps to reproduce issue
In the navigation launch file, the controller server was executed by lifecycle manager.
In previous commit versions, localcostmap worked without any problems, but after pulling to the latest version, the following problems occurred.
When searching for costmap-related nodes as follows when starting the system, it was confirmed that two
/local_costmap/local_costmapnodes were created with the same name and then changed to one.After that, the costmap topic will not come out, and the robot will not be able to drive.
Expected behavior
Actual behavior
Additional information
Feature request
Feature description
Implementation considerations