how to solve this question #202
Description
robot@robot-virtual-machine:~/ros2_ws$ ros2 launch go2_robot_sdk robot.launch.py
[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-09-18-09-07-22-976446-robot-virtual-machine-10157
[INFO] [launch]: Default logging verbosity is set to INFO
🚀 Go2 Launch Configuration:
Robot IPs: ['192.168.123.161']
Connection: cyclonedds (single)
URDF: go2.urdf
[INFO] [robot_state_publisher-1]: process started with pid [10162]
[INFO] [pointcloud_to_laserscan_node-2]: process started with pid [10164]
[INFO] [go2_driver_node-3]: process started with pid [10166]
[INFO] [lidar_to_pointcloud-4]: process started with pid [10168]
[INFO] [pointcloud_aggregator-5]: process started with pid [10170]
[INFO] [tts_node-6]: process started with pid [10172]
[INFO] [joy_node-7]: process started with pid [10174]
[INFO] [teleop_node-8]: process started with pid [10176]
[INFO] [twist_mux-9]: process started with pid [10178]
[INFO] [rviz2-10]: process started with pid [10180]
[INFO] [foxglove_bridge-11]: process started with pid [10182]
[INFO] [async_slam_toolbox_node-12]: process started with pid [10184]
[INFO] [controller_server-13]: process started with pid [10186]
[INFO] [smoother_server-14]: process started with pid [10188]
[INFO] [planner_server-15]: process started with pid [10190]
[INFO] [behavior_server-16]: process started with pid [10192]
[INFO] [bt_navigator-17]: process started with pid [10194]
[INFO] [waypoint_follower-18]: process started with pid [10196]
[INFO] [velocity_smoother-19]: process started with pid [10198]
[INFO] [lifecycle_manager-20]: process started with pid [10200]
[tts_node-6] /home/robot/.local/lib/python3.10/site-packages/pydub/utils.py:170: RuntimeWarning: Couldn't find ffmpeg or avconv - defaulting to ffmpeg, but may not work
[tts_node-6] warn("Couldn't find ffmpeg or avconv - defaulting to ffmpeg, but may not work", RuntimeWarning)
[velocity_smoother-19] [INFO] [1758157643.357874369] [velocity_smoother]:
[velocity_smoother-19] velocity_smoother lifecycle node launched.
[velocity_smoother-19] Waiting on external lifecycle transitions to activate
[velocity_smoother-19] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[twist_mux-9] [INFO] [1758157643.363605304] [twist_mux]: Topic handler 'topics.joy' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 10.
[planner_server-15] [INFO] [1758157643.368282984] [planner_server]:
[planner_server-15] planner_server lifecycle node launched.
[planner_server-15] Waiting on external lifecycle transitions to activate
[planner_server-15] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[twist_mux-9] [INFO] [1758157643.372803192] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 5.
[teleop_node-8] [INFO] [1758157643.373772992] [TeleopTwistJoy]: Teleop enable button 5.
[teleop_node-8] [INFO] [1758157643.373811806] [TeleopTwistJoy]: Linear axis x on 5 at scale 0.500000.
[teleop_node-8] [INFO] [1758157643.373817957] [TeleopTwistJoy]: Angular axis yaw on 2 at scale 0.500000.
[waypoint_follower-18] [INFO] [1758157643.374564982] [waypoint_follower]:
[waypoint_follower-18] waypoint_follower lifecycle node launched.
[waypoint_follower-18] Waiting on external lifecycle transitions to activate
[waypoint_follower-18] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[async_slam_toolbox_node-12] [INFO] [1758157643.374882612] [slam_toolbox]: Node using stack size 40000000
[lifecycle_manager-20] [INFO] [1758157643.380324082] [lifecycle_manager_navigation]: Creating
[waypoint_follower-18] [INFO] [1758157643.382585898] [waypoint_follower]: Creating
[planner_server-15] [INFO] [1758157643.390416125] [planner_server]: Creating
[behavior_server-16] [INFO] [1758157643.393556737] [behavior_server]:
[behavior_server-16] behavior_server lifecycle node launched.
[behavior_server-16] Waiting on external lifecycle transitions to activate
[behavior_server-16] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-20] [INFO] [1758157643.399263602] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[bt_navigator-17] [INFO] [1758157643.400275123] [bt_navigator]:
[bt_navigator-17] bt_navigator lifecycle node launched.
[bt_navigator-17] Waiting on external lifecycle transitions to activate
[bt_navigator-17] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-17] [INFO] [1758157643.400356413] [bt_navigator]: Creating
[foxglove_bridge-11] [INFO] [1758157643.401340222] [foxglove_bridge_component_manager]: Load Library: /opt/ros/humble/lib/libfoxglove_bridge_component.so
[smoother_server-14] [INFO] [1758157643.403405313] [smoother_server]:
[smoother_server-14] smoother_server lifecycle node launched.
[smoother_server-14] Waiting on external lifecycle transitions to activate
[smoother_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[robot_state_publisher-1] [INFO] [1758157643.403792778] [go2_robot_state_publisher]: got segment FL_calf
[robot_state_publisher-1] [INFO] [1758157643.403855407] [go2_robot_state_publisher]: got segment FL_calflower
[robot_state_publisher-1] [INFO] [1758157643.403859986] [go2_robot_state_publisher]: got segment FL_calflower1
[robot_state_publisher-1] [INFO] [1758157643.403862505] [go2_robot_state_publisher]: got segment FL_foot
[robot_state_publisher-1] [INFO] [1758157643.403864985] [go2_robot_state_publisher]: got segment FL_hip
[robot_state_publisher-1] [INFO] [1758157643.403867214] [go2_robot_state_publisher]: got segment FL_thigh
[robot_state_publisher-1] [INFO] [1758157643.403869371] [go2_robot_state_publisher]: got segment FR_calf
[robot_state_publisher-1] [INFO] [1758157643.403871546] [go2_robot_state_publisher]: got segment FR_calflower
[robot_state_publisher-1] [INFO] [1758157643.403873820] [go2_robot_state_publisher]: got segment FR_calflower1
[robot_state_publisher-1] [INFO] [1758157643.403876099] [go2_robot_state_publisher]: got segment FR_foot
[robot_state_publisher-1] [INFO] [1758157643.403878236] [go2_robot_state_publisher]: got segment FR_hip
[robot_state_publisher-1] [INFO] [1758157643.403880363] [go2_robot_state_publisher]: got segment FR_thigh
[robot_state_publisher-1] [INFO] [1758157643.403882521] [go2_robot_state_publisher]: got segment Head_lower
[robot_state_publisher-1] [INFO] [1758157643.403884580] [go2_robot_state_publisher]: got segment Head_upper
[robot_state_publisher-1] [INFO] [1758157643.403886616] [go2_robot_state_publisher]: got segment RL_calf
[robot_state_publisher-1] [INFO] [1758157643.403888695] [go2_robot_state_publisher]: got segment RL_calflower
[robot_state_publisher-1] [INFO] [1758157643.403891009] [go2_robot_state_publisher]: got segment RL_calflower1
[robot_state_publisher-1] [INFO] [1758157643.403893146] [go2_robot_state_publisher]: got segment RL_foot
[robot_state_publisher-1] [INFO] [1758157643.403895340] [go2_robot_state_publisher]: got segment RL_hip
[robot_state_publisher-1] [INFO] [1758157643.403897431] [go2_robot_state_publisher]: got segment RL_thigh
[robot_state_publisher-1] [INFO] [1758157643.403899629] [go2_robot_state_publisher]: got segment RR_calf
[robot_state_publisher-1] [INFO] [1758157643.403901730] [go2_robot_state_publisher]: got segment RR_calflower
[robot_state_publisher-1] [INFO] [1758157643.403903866] [go2_robot_state_publisher]: got segment RR_calflower1
[robot_state_publisher-1] [INFO] [1758157643.403906149] [go2_robot_state_publisher]: got segment RR_foot
[robot_state_publisher-1] [INFO] [1758157643.403908178] [go2_robot_state_publisher]: got segment RR_hip
[robot_state_publisher-1] [INFO] [1758157643.403910300] [go2_robot_state_publisher]: got segment RR_thigh
[robot_state_publisher-1] [INFO] [1758157643.403912351] [go2_robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1758157643.403914559] [go2_robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1758157643.403916719] [go2_robot_state_publisher]: got segment front_camera
[robot_state_publisher-1] [INFO] [1758157643.403918981] [go2_robot_state_publisher]: got segment imu
[robot_state_publisher-1] [INFO] [1758157643.403921183] [go2_robot_state_publisher]: got segment map
[robot_state_publisher-1] [INFO] [1758157643.403923264] [go2_robot_state_publisher]: got segment odom
[robot_state_publisher-1] [INFO] [1758157643.403925361] [go2_robot_state_publisher]: got segment radar
[smoother_server-14] [INFO] [1758157643.404240677] [smoother_server]: Creating smoother server
[controller_server-13] [INFO] [1758157643.417623801] [controller_server]:
[controller_server-13] controller_server lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1758157643.420725272] [controller_server]: Creating controller server
[foxglove_bridge-11] [INFO] [1758157643.424469725] [foxglove_bridge_component_manager]: Found class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[foxglove_bridge-11] [INFO] [1758157643.424533935] [foxglove_bridge_component_manager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<foxglove_bridge::FoxgloveBridge>
[planner_server-15] [INFO] [1758157643.435390490] [global_costmap.global_costmap]:
[planner_server-15] global_costmap lifecycle node launched.
[planner_server-15] Waiting on external lifecycle transitions to activate
[planner_server-15] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-15] [INFO] [1758157643.442963608] [global_costmap.global_costmap]: Creating Costmap
[lifecycle_manager-20] [INFO] [1758157643.445243526] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-20] [INFO] [1758157643.445349665] [lifecycle_manager_navigation]: Configuring controller_server
[pointcloud_to_laserscan_node-2] [INFO] [1758157643.470260860] [go2_pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber
[controller_server-13] [INFO] [1758157643.483474172] [local_costmap.local_costmap]:
[controller_server-13] local_costmap lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-15] [INFO] [1758157643.442963608] [global_costmap.global_costmap]: Creating Costmap
[lifecycle_manager-20] [INFO] [1758157643.445243526] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-20] [INFO] [1758157643.445349665] [lifecycle_manager_navigation]: Configuring controller_server
[pointcloud_to_laserscan_node-2] [INFO] [1758157643.470260860] [go2_pointcloud_to_laserscan]: Got a subscriber to laserscan, starting pointcloud subscriber
[controller_server-13] [INFO] [1758157643.483474172] [local_costmap.local_costmap]:
[controller_server-13] local_costmap lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1758157643.483743433] [local_costmap.local_costmap]: Creating Costmap
[controller_server-13] [INFO] [1758157643.484136124] [controller_server]: Configuring controller interface
[controller_server-13] [INFO] [1758157643.484180640] [controller_server]: getting goal checker plugins..
[controller_server-13] [INFO] [1758157643.484195888] [controller_server]: Controller frequency set to 3.0000Hz
[controller_server-13] [INFO] [1758157643.484206627] [local_costmap.local_costmap]: Configuring
[foxglove_bridge-11] [INFO] [1758157643.490743329] [foxglove_bridge]: Starting foxglove_bridge (humble, 0.8.5@) with WebSocket++/0.8.2
[foxglove_bridge-11] [INFO] [1758157643.494862581] [foxglove_bridge]: [WS] Server running without TLS
[foxglove_bridge-11] [INFO] [1758157643.499354768] [foxglove_bridge]: [WS] WebSocket server listening at ws://0.0.0.0:8765
[foxglove_bridge-11] [INFO] [1758157643.499364445] [foxglove_bridge]: [WS] WebSocket server run loop started
[controller_server-13] [INFO] [1758157643.511677444] [local_costmap.local_costmap]: Using plugin "static_layer"
[controller_server-13] [INFO] [1758157643.530331388] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[controller_server-13] [INFO] [1758157643.532374657] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[controller_server-13] [INFO] [1758157643.532416988] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-13] [INFO] [1758157643.535265806] [local_costmap.local_costmap]: Subscribed to Topics: scan
[async_slam_toolbox_node-12] [INFO] [1758157643.537978038] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-12] [INFO] [1758157643.539931650] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[controller_server-13] [INFO] [1758157643.545470316] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-13] [INFO] [1758157643.545678741] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-13] [INFO] [1758157643.545904252] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-13] [INFO] [1758157643.555102710] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-13] [INFO] [1758157643.556337759] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-13] [INFO] [1758157643.557298171] [controller_server]: Controller Server has general_goal_checker goal checkers available.
[controller_server-13] [INFO] [1758157643.564313114] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-13] [INFO] [1758157643.564843446] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-13] [INFO] [1758157643.590512003] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-13] [INFO] [1758157643.592556965] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.592765315] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-13] [INFO] [1758157643.593129036] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.593205783] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-13] [INFO] [1758157643.593322797] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.593409223] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-13] [INFO] [1758157643.594518501] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.594641897] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-13] [INFO] [1758157643.595208070] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.595416568] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-13] [INFO] [1758157643.596875048] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.597012293] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-13] [INFO] [1758157643.597423680] [controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1758157643.597459086] [controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-20] [INFO] [1758157643.606852891] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-14] [INFO] [1758157643.607106846] [smoother_server]: Configuring smoother server
[smoother_server-14] [INFO] [1758157643.617445495] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-14] [INFO] [1758157643.618399516] [smoother_server]: Smoother Server has simple_smoother smoothers available.
[lifecycle_manager-20] [INFO] [1758157643.642392900] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-15] [INFO] [1758157643.642977114] [planner_server]: Configuring
[planner_server-15] [INFO] [1758157643.643018934] [global_costmap.global_costmap]: Configuring
[tts_node-6] [ERROR] [1758157643.781059360] [tts_node]: ElevenLabs API key not provided!
[tts_node-6] [ERROR] [1758157643.781314131] [tts_node]: Failed to initialize TTS provider!
[pointcloud_aggregator-5] [INFO] [1758157643.783499524] [pointcloud_aggregator]: 🔄 PointCloud Aggregator Node initialized
[pointcloud_aggregator-5] [INFO] [1758157643.783802962] [pointcloud_aggregator]: ⚙️ Aggregator Configuration:
[pointcloud_aggregator-5] [INFO] [1758157643.783960796] [pointcloud_aggregator]: Range filter: 0.1 - 20.0m
[pointcloud_aggregator-5] [INFO] [1758157643.784096652] [pointcloud_aggregator]: Height filter: -2.0 - 3.0m
[pointcloud_aggregator-5] [INFO] [1758157643.784302803] [pointcloud_aggregator]: Downsample rate: 1/5
[pointcloud_aggregator-5] [INFO] [1758157643.784540307] [pointcloud_aggregator]: Publish rate: 10.0 Hz
[planner_server-15] [INFO] [1758157644.169549184] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-15] [INFO] [1758157644.173438598] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-15] [INFO] [1758157644.175872190] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-15] [INFO] [1758157644.175913364] [global_costmap.global_costmap]: Using plugin "voxel_layer"
[planner_server-15] [INFO] [1758157644.176963651] [global_costmap.global_costmap]: Subscribed to Topics: scan
[rviz2-10] [INFO] [1758157644.230479371] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1758157644.230585359] [rviz2]: OpenGl version: 4.3 (GLSL 4.3)
[rviz2-10] [INFO] [1758157644.318268389] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [WARN] [1758157644.559336116] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-10] [WARN] [1758157644.594275124] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[go2_driver_node-3] [INFO] [1758157645.305384240] [go2_driver_node]: Robot IPs: ['192.168.123.161']
[go2_driver_node-3] [INFO] [1758157645.305637802] [go2_driver_node]: Connection type: cyclonedds
[go2_driver_node-3] [INFO] [1758157645.305847243] [go2_driver_node]: Connection mode: multi
[go2_driver_node-3] [INFO] [1758157645.306002059] [go2_driver_node]: Enable video: True
[go2_driver_node-3] [INFO] [1758157645.306133514] [go2_driver_node]: Decode lidar: True
[go2_driver_node-3] [INFO] [1758157645.306263896] [go2_driver_node]: Publish raw voxel: False
[go2_driver_node-3] [INFO] [1758157645.306392636] [go2_driver_node]: Obstacle avoidance: False
[rviz2-10] [INFO] [1758157645.876087381] [rviz2]: Stereo is NOT SUPPORTED
[lidar_to_pointcloud-4] /usr/lib/python3/dist-packages/scipy/init.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.4
[lidar_to_pointcloud-4] warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
[planner_server-15] [INFO] [1758157646.251461271] [global_costmap.global_costmap]: Initialized plugin "voxel_layer"
[planner_server-15] [INFO] [1758157646.251524246] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-15] [INFO] [1758157646.299199690] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-15] [INFO] [1758157646.333057706] [planner_server]: Created global planner plugin GridBased of type nav2_smac_planner/SmacPlannerHybrid
[planner_server-15] [INFO] [1758157646.333120728] [planner_server]: Configuring GridBased of type SmacPlannerHybrid
[planner_server-15] [INFO] [1758157646.334966062] [planner_server]: Even sized heuristic lookup table size set 400.000000, increasing size by 1 to make odd
[INFO] [lidar_to_pointcloud-4]: process has finished cleanly [pid 10168]
[planner_server-15] [INFO] [1758157653.139987774] [planner_server]: Configured plugin GridBased of type SmacPlannerHybrid with maximum iterations 1000000, max on approach iterations 1000, and not allowing unknown traversal. Tolerance 3.00.Using motion model: Reeds-Shepp.
[planner_server-15] [INFO] [1758157653.140048217] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-20] [INFO] [1758157653.154219555] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-16] [INFO] [1758157653.154468856] [behavior_server]: Configuring
[behavior_server-16] [INFO] [1758157653.163949998] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-16] [INFO] [1758157653.165995006] [behavior_server]: Configuring spin
[behavior_server-16] [INFO] [1758157653.173339716] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-16] [INFO] [1758157653.175167165] [behavior_server]: Configuring backup
[behavior_server-16] [INFO] [1758157653.181397548] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-16] [INFO] [1758157653.183314720] [behavior_server]: Configuring drive_on_heading
[behavior_server-16] [INFO] [1758157653.190052048] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-16] [INFO] [1758157653.193208029] [behavior_server]: Configuring assisted_teleop
[behavior_server-16] [INFO] [1758157653.201990890] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-16] [INFO] [1758157653.203752211] [behavior_server]: Configuring wait
[lifecycle_manager-20] [INFO] [1758157653.209347016] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-17] [INFO] [1758157653.209729089] [bt_navigator]: Configuring
[lifecycle_manager-20] [INFO] [1758157653.323751873] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-18] [INFO] [1758157653.324022019] [waypoint_follower]: Configuring
[waypoint_follower-18] [INFO] [1758157653.334500641] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-20] [INFO] [1758157653.335332466] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-19] [INFO] [1758157653.335619523] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-20] [INFO] [1758157653.340619215] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-13] [INFO] [1758157653.340869071] [controller_server]: Activating
[controller_server-13] [INFO] [1758157653.340900809] [local_costmap.local_costmap]: Activating
[controller_server-13] [INFO] [1758157653.340908747] [local_costmap.local_costmap]: Checking transform
[controller_server-13] [INFO] [1758157653.340995229] [local_costmap.local_costmap]: start
[controller_server-13] [INFO] [1758157654.391915879] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157654.507427216] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-20] [INFO] [1758157654.507498376] [lifecycle_manager_navigation]: Activating smoother_server
[smoother_server-14] [INFO] [1758157654.508098100] [smoother_server]: Activating
[smoother_server-14] [INFO] [1758157654.508152010] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157654.613178252] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[lifecycle_manager-20] [INFO] [1758157654.613224877] [lifecycle_manager_navigation]: Activating planner_server
[planner_server-15] [INFO] [1758157654.613493517] [planner_server]: Activating
[planner_server-15] [INFO] [1758157654.613528723] [global_costmap.global_costmap]: Activating
[planner_server-15] [INFO] [1758157654.613536541] [global_costmap.global_costmap]: Checking transform
[planner_server-15] [INFO] [1758157654.613622051] [global_costmap.global_costmap]: start
[planner_server-15] [INFO] [1758157658.015306630] [planner_server]: Activating plugin GridBased of type SmacPlannerHybrid
[planner_server-15] [INFO] [1758157658.016920129] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157658.122405429] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-20] [INFO] [1758157658.122472118] [lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-16] [INFO] [1758157658.122924057] [behavior_server]: Activating
[behavior_server-16] [INFO] [1758157658.122948690] [behavior_server]: Activating spin
[behavior_server-16] [INFO] [1758157658.122958344] [behavior_server]: Activating backup
[behavior_server-16] [INFO] [1758157658.122964397] [behavior_server]: Activating drive_on_heading
[behavior_server-16] [INFO] [1758157658.122970718] [behavior_server]: Activating assisted_teleop
[behavior_server-16] [INFO] [1758157658.122976810] [behavior_server]: Activating wait
[behavior_server-16] [INFO] [1758157658.122985350] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157658.228452353] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-20] [INFO] [1758157658.228496707] [lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-17] [INFO] [1758157658.229192268] [bt_navigator]: Activating
[bt_navigator-17] [INFO] [1758157658.319094828] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157658.425591941] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-20] [INFO] [1758157658.425636013] [lifecycle_manager_navigation]: Activating waypoint_follower
[waypoint_follower-18] [INFO] [1758157658.426012595] [waypoint_follower]: Activating
[waypoint_follower-18] [INFO] [1758157658.426042940] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157658.530946205] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[lifecycle_manager-20] [INFO] [1758157658.530994911] [lifecycle_manager_navigation]: Activating velocity_smoother
[velocity_smoother-19] [INFO] [1758157658.531345012] [velocity_smoother]: Activating
[velocity_smoother-19] [INFO] [1758157658.531395788] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[lifecycle_manager-20] [INFO] [1758157658.640150112] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[lifecycle_manager-20] [INFO] [1758157658.640208604] [lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-20] [INFO] [1758157658.640215732] [lifecycle_manager_navigation]: Creating bond timer...
[controller_server-13] [WARN] [1758157663.341374781] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157667.289856823] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157673.341121172] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157677.277901308] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157683.341317443] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157687.289541170] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157693.341411552] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157697.277279688] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157703.341325420] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157707.276266215] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157713.341636487] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157717.288763667] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157723.341687455] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157727.277139427] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157733.341298788] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157737.277456562] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157743.341237571] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157747.288192679] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157753.341396601] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157757.279813301] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157763.341377543] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157767.289226423] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157773.341575787] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157777.276850329] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157783.341565209] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157787.280147529] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157793.341545471] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157797.287294724] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157803.341492943] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157807.281601517] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157813.341689527] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157817.287521151] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157823.341605031] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157827.311039373] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-13] [WARN] [1758157833.341333428] [local_costmap.local_costmap]: Can't update static costmap layer, no map received
[planner_server-15] [WARN] [1758157837.292173962] [global_costmap.global_costmap]: Can't update static costmap layer, no map received