Hi, I am just starting the ROS2 navigation (galactic) course. The introductory demo crashes before starting up. I follow all the steps stated in chapter 1. Here’s the messages I get in terminal:
user:~/ros2_ws$ ros2 launch nav2_course nav2_demo.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2022-07-05-17-26-15-702093-2_xterm-2348
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [2359]
[INFO] [map_server-2]: process started with pid [2361]
[INFO] [amcl-3]: process started with pid [2363]
[ERROR] [amcl-3]: process has died [pid 2363, exit code 127, cmd ‘/opt/ros/galactic/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /tmp/tmpyst3ovz2 -r /tf:=tf -r /tf_static:=tf_static’].
[INFO] [lifecycle_manager-4]: process started with pid [2365]
[INFO] [controller_server-5]: process started with pid [2367]
[ERROR] [controller_server-5]: process has died [pid 2367, exit code 127, cmd ‘/opt/ros/galactic/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmpirslx7dx -r /tf:=tf -r /tf_static:=tf_static’].
[INFO] [planner_server-6]: process started with pid [2369]
[ERROR] [planner_server-6]: process has died [pid 2369, exit code 127, cmd ‘/opt/ros/galactic/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server --params-file /tmp/tmp_3fr219j -r /tf:=tf -r /tf_static:=tf_static’].
[INFO] [recoveries_server-7]: process started with pid [2371]
[ERROR] [recoveries_server-7]: process has died [pid 2371, exit code 127, cmd ‘/opt/ros/galactic/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server --params-file /tmp/tmpbtbj0r91 -r /tf:=tf -r /tf_static:=tf_static’].
[INFO] [bt_navigator-8]: process started with pid [2381]
[INFO] [waypoint_follower-9]: process started with pid [2393]
[INFO] [lifecycle_manager-10]: process started with pid [2398]
[ERROR] [bt_navigator-8]: process has died [pid 2381, exit code 127, cmd ‘/opt/ros/galactic/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file/tmp/tmphbv0to4z -r /tf:=tf -r /tf_static:=tf_static’].
[map_server-2] [INFO] [1657041977.310602232] [map_server]:
[map_server-2] map_server lifecycle node launched.
[map_server-2] Waiting on external lifecycle transitions to activate
[map_server-2] See Managed nodes for more information.
[map_server-2] [INFO] [1657041977.311046093] [map_server]: Creating
[amcl-3] /opt/ros/galactic/lib/nav2_amcl/amcl: symbol lookup error: /opt/ros/galactic/lib/libamcl_core.so: undefined symbol: _ZTVN7tf2_ros14CreateTimerROSE
[lifecycle_manager-4] [INFO] [1657041977.282754024] [lifecycle_manager_localization]: Creating
[lifecycle_manager-4] [INFO] [1657041977.286178652] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[lifecycle_manager-4] [INFO] [1657041977.289620590] [lifecycle_manager_localization]: Starting managed nodes bringup…
[lifecycle_manager-4] [INFO] [1657041977.289676945] [lifecycle_manager_localization]: Configuring map_server
[controller_server-5] /opt/ros/galactic/lib/nav2_controller/controller_server: symbol lookup error: /opt/ros/galactic/lib/libnav2_costmap_2d_core.so: undefined symbol: _ZTVN7tf2_ros14CreateTimerROSE
[planner_server-6] /opt/ros/galactic/lib/nav2_planner/planner_server: symbol lookup error: /opt/ros/galactic/lib/libnav2_costmap_2d_core.so: undefined symbol: _ZTVN7tf2_ros14CreateTimerROSE
[recoveries_server-7] /opt/ros/galactic/lib/nav2_recoveries/recoveries_server: symbol lookup error: /opt/ros/galactic/lib/libnav2_costmap_2d_core.so: undefined symbol: _ZTVN7tf2_ros14CreateTimerROSE
[map_server-2] [INFO] [1657041977.321396913] [map_server]: Configuring
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-user’
[map_server-2] [INFO] [map_io]: Loading yaml file: /home/user/ros2_ws/install/nav2_course/share/nav2_course/maps/turtlebot_area.yaml
[map_server-2] [DEBUG] [map_io]: resolution: 0.05
[map_server-2] [DEBUG] [map_io]: origin[0]: -3.81
[map_server-2] [DEBUG] [map_io]: origin[1]: -1.83
[map_server-2] [DEBUG] [map_io]: origin[2]: 0
[map_server-2] [DEBUG] [map_io]: free_thresh: 0.25
[map_server-2] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-2] [DEBUG] [map_io]: mode: trinary
[map_server-2] [DEBUG] [map_io]: negate: 0
[map_server-2] [INFO] [map_io]: Loading image_file: /home/user/ros2_ws/install/nav2_course/share/nav2_course/maps/turtlebot_area.pgm
[bt_navigator-8] /opt/ros/galactic/lib/nav2_bt_navigator/bt_navigator: symbol lookup error: /opt/ros/galactic/lib/libbt_navigator_core.so: undefined symbol: _ZN7tf2_ros17TransformListener21subscription_callbackESt10shared_ptrIN8tf2_msgs3msg10TFMessage_ISaIvEEEEb
[map_server-2] [DEBUG] [map_io]: Read map /home/user/ros2_ws/install/nav2_course/share/nav2_course/maps/turtlebot_area.pgm: 136 X 140 map @ 0.05 m/cell
[waypoint_follower-9] [INFO] [1657041977.383006281] [waypoint_follower]:
[waypoint_follower-9] waypoint_follower lifecycle node launched.
[waypoint_follower-9] Waiting on external lifecycle transitions to activate
[waypoint_follower-9] See Managed nodes for more information.
[waypoint_follower-9] [INFO] [1657041977.386286061] [waypoint_follower]: Creating
[lifecycle_manager-4] [INFO] [1657041977.391876970] [lifecycle_manager_localization]: Configuring amcl
[lifecycle_manager-10] [INFO] [1657041977.406306916] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-10] [INFO] [1657041977.414522275] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[lifecycle_manager-10] [INFO] [1657041977.423975511] [lifecycle_manager_navigation]: Starting managed nodes bringup…
[lifecycle_manager-10] [INFO] [1657041977.424034919] [lifecycle_manager_navigation]: Configuring controller_server
[rviz2-1] [rospack] Error: package ‘rviz_common’ not found
[rviz2-1] [librospack]: error while executing command
[rviz2-1] [INFO] [1657041977.619658221] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1657041977.619759153] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-1] [rospack] Error: package ‘rviz_common’ not found
[rviz2-1] [librospack]: error while executing command
[rviz2-1] [rospack] Error: package ‘rviz_common’ not found
[rviz2-1] [librospack]: error while executing command
[rviz2-1] [INFO] [1657041977.673872995] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] rviz2: malloc.c:2379: sysmalloc: Assertion `(old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)’ failed.
[ERROR] [rviz2-1]: process has died [pid 2359, exit code -6, cmd ‘/opt/ros/galactic/lib/rviz2/rviz2 -d /opt/ros/galactic/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args’].
[INFO] [lifecycle_manager-10]: sending signal ‘SIGINT’ to process[lifecycle_manager-10]
[INFO] [waypoint_follower-9]: sending signal ‘SIGINT’ to process[waypoint_follower-9]
[INFO] [lifecycle_manager-4]: sending signal ‘SIGINT’ to process[lifecycle_manager-4]
[INFO] [map_server-2]: sending signal ‘SIGINT’ to process[map_server-2]
[lifecycle_manager-10] [INFO] [1657041977.842689322] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-10] terminate called after throwing an instance of ‘std::runtime_error’
[lifecycle_manager-10] what(): controller_server/change_state service client: interrupted while waiting for service
[waypoint_follower-9] [INFO] [1657041977.844478777] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-9] [INFO] [1657041977.845387013] [waypoint_follower]: Destroying
[lifecycle_manager-4] [INFO] [1657041977.847087748] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-4] terminate called after throwing an instance of ‘std::runtime_error’
[lifecycle_manager-4] what(): amcl/change_state service client: interrupted while waiting for service
[map_server-2] [INFO] [1657041977.849569288] [rclcpp]: signal_handler(signal_value=2)
[map_server-2] [INFO] [1657041977.854237945] [map_server]: Destroying
[ERROR] [lifecycle_manager-4]: process has died [pid 2365, exit code -6, cmd ‘/opt/ros/galactic/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_localization --params-file /tmp/launch_params_qt9skuc8 --params-file /tmp/launch_params_cj0rrp_q --params-file /tmp/launch_params_9bxcgmzd’].
[ERROR] [lifecycle_manager-10]: process has died [pid 2398, exit code -6, cmd ‘/opt/ros/galactic/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_navigation --params-file /tmp/launch_params_q39bfmau --params-file /tmp/launch_params_o3lcujqw --params-file /tmp/launch_params_rbrwaicq’].
[INFO] [waypoint_follower-9]: process has finished cleanly [pid 2393]
[INFO] [map_server-2]: process has finished cleanly [pid 2361]
Well, you shouldn’t need to restart, it should work off-the-shelf the first time you launch it. Let me check what may be happening
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