The same problem occurs on my local VM and your cloud system

After the command ‘ros2 launch nav2_course localization_launch.py’

You have told me that the RVIZ has nothing to do with the lifecycle_manager. I do not understand why RVIZ is waiting for it. Since this error is popping up quickly, it rushes away other valid information, and it is noisy. How can I move it away?

My teleop_keyboard is not working (See the post titled ‘My teleop_keyboard has something wrong’). So, I have to, again, use my local computer to continue my study. Then I find the above problem, I come back to your system. I find the same problem.

Good news!

The problem lies in the config file of the RVIZ. I use a blank config file and add functions one by one from the RVIZ’s interface. Then, I save this config for the Launch system. The above problem does not occur.

I try to compare the new config with the file from your system. Unfortunately, I don’t understand the things in the config due to my limited knowledge. But, I find another new problem. I will make a new post.

I will post my config file.

Panels:

  • Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
    Expanded:
    - /Global Options1
    - /Status1
    - /Map1/Topic1
    - /PoseArray1/Topic1
    Splitter Ratio: 0.5
    Tree Height: 617
  • Class: rviz_common/Selection
    Name: Selection
  • Class: rviz_common/Tool Properties
    Expanded:
    • /2D Goal Pose1
    • /Publish Point1
      Name: Tool Properties
      Splitter Ratio: 0.5886790156364441
  • Class: rviz_common/Views
    Expanded:
    • /Current View1
      Name: Views
      Splitter Ratio: 0.5
      Visualization Manager:
      Class: “”
      Displays:
    • Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
      Line Width: 0.029999999329447746
      Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
      X: 0
      Y: 0
      Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame:
      Value: true
    • Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic:
      Depth: 1
      Durability Policy: Transient Local
      History Policy: Keep Last
      Reliability Policy: Reliable
      Value: /map
      Update Topic:
      Depth: 5
      Durability Policy: Volatile
      History Policy: Keep Last
      Reliability Policy: Reliable
      Value: /map_updates
      Use Timestamp: false
      Value: true
    • Alpha: 1
      Arrow Length: 0.019999999552965164
      Axes Length: 0.30000001192092896
      Axes Radius: 0.009999999776482582
      Class: rviz_default_plugins/PoseArray
      Color: 0; 180; 0
      Enabled: true
      Head Length: 0.07000000029802322
      Head Radius: 0.029999999329447746
      Name: PoseArray
      Shaft Length: 0.23000000417232513
      Shaft Radius: 0.009999999776482582
      Shape: Arrow (Flat)
      Topic:
      Depth: 5
      Durability Policy: Volatile
      History Policy: Keep Last
      Reliability Policy: Best Effort
      Value: /particlecloud
      Value: true
    • Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
      All Enabled: true
      base_footprint:
      Value: true
      base_link:
      Value: true
      base_scan:
      Value: true
      caster_back_link:
      Value: true
      imu_link:
      Value: true
      map:
      Value: true
      odom:
      Value: true
      wheel_left_link:
      Value: true
      wheel_right_link:
      Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
      map:
      odom:
      base_footprint:
      base_link:
      base_scan:
      {}
      caster_back_link:
      {}
      imu_link:
      {}
      wheel_left_link:
      {}
      wheel_right_link:
      {}
      Update Interval: 0
      Value: true
      Enabled: true
      Global Options:
      Background Color: 48; 48; 48
      Fixed Frame: map
      Frame Rate: 30
      Name: root
      Tools:
    • Class: rviz_default_plugins/Interact
      Hide Inactive Objects: true
    • Class: rviz_default_plugins/MoveCamera
    • Class: rviz_default_plugins/Select
    • Class: rviz_default_plugins/FocusCamera
    • Class: rviz_default_plugins/Measure
      Line color: 128; 128; 0
    • Class: rviz_default_plugins/SetInitialPose
      Topic:
      Depth: 5
      Durability Policy: Volatile
      History Policy: Keep Last
      Reliability Policy: Reliable
      Value: /initialpose
    • Class: rviz_default_plugins/SetGoal
      Topic:
      Depth: 5
      Durability Policy: Volatile
      History Policy: Keep Last
      Reliability Policy: Reliable
      Value: /goal_pose
    • Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic:
      Depth: 5
      Durability Policy: Volatile
      History Policy: Keep Last
      Reliability Policy: Reliable
      Value: /clicked_point
      Transformation:
      Current:
      Class: rviz_default_plugins/TF
      Value: true
      Views:
      Current:
      Class: rviz_default_plugins/Orbit
      Distance: 7.7021589279174805
      Enable Stereo Rendering:
      Stereo Eye Separation: 0.05999999865889549
      Stereo Focal Distance: 1
      Swap Stereo Eyes: false
      Value: false
      Focal Point:
      X: 0.015416013076901436
      Y: -0.155570849776268
      Z: 0.0006456514238379896
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.5697963237762451
      Target Frame:
      Value: Orbit (rviz)
      Yaw: 3.100398540496826
      Saved: ~
      Window Geometry:
      Displays:
      collapsed: false
      Height: 846
      Hide Left Dock: false
      Hide Right Dock: true
      QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000354000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
      Selection:
      collapsed: false
      Tool Properties:
      collapsed: false
      Views:
      collapsed: true
      Width: 1200
      X: 216
      Y: 88

Hello @bluebird,

The lifecycle manager navigation service is not required to complete the exercises of unit 3. You can ignore that message and it will be ok.

That being said, let me briefly explain why that message appears:

Currently RVIZ is configured to load the Navigation 2 panel that controls the nodes using the lifecycle manager. This panel is located at the lower left side in Rviz.

Because of this panel Rviz is waiting for the lifecycle_manager_navigation/is_active service.
However the lifecycle_manager_navigation service is not loaded by the launch file (localization_launch.py), and therefore it does not get activated.

Rviz does not wait for that service if you change the Rviz configuration file and using one that does not start the Navigation 2 plugin. This is why the new configuration file that you use causes Rviz to not display that message.

Cheers,

Roberto