Nav2_lifecycle_manger dies in Windows

[gftabor]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

Some of the nav stack nodes crash launching turtlebot3 navigation launch. Specifically component_container_isolated dies. I am testing in simulation if that matters.

terminal 1

set TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Terminal 2

set TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True

Results in

(robostack:jazzy) C:\Users\tabor\robostack>ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True
[INFO] [launch]: All log files can be found below C:\Users\tabor\.ros\log\2025-06-23-17-50-13-434109-tabor-16768
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated.EXE-1]: process started with pid [31444]
[INFO] [rviz2.EXE-2]: process started with pid [45176]
[component_container_isolated.EXE-1] [INFO] [1750715414.603098300] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/map_server_core.dll
[component_container_isolated.EXE-1] [INFO] [1750715414.617476400] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated.EXE-1] [INFO] [1750715414.617513000] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated.EXE-1] [INFO] [1750715414.617516400] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated.EXE-1] [INFO] [1750715414.617530100] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated.EXE-1] [INFO] [1750715414.627170800] [map_server]:
[component_container_isolated.EXE-1]    map_server lifecycle node launched.
[component_container_isolated.EXE-1]    Waiting on external lifecycle transitions to activate
[component_container_isolated.EXE-1]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated.EXE-1] [INFO] [1750715414.627200100] [map_server]: Creating
[component_container_isolated.EXE-1] [INFO] [1750715414.627652500] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/amcl_core.dll
[component_container_isolated.EXE-1] [INFO] [1750715414.632972800] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated.EXE-1] [INFO] [1750715414.633010100] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated.EXE-1] [INFO] [1750715414.637996300] [amcl]:
[component_container_isolated.EXE-1]    amcl lifecycle node launched.
[component_container_isolated.EXE-1]    Waiting on external lifecycle transitions to activate
[component_container_isolated.EXE-1]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated.EXE-1] [INFO] [1750715414.638620300] [amcl]: Creating
[component_container_isolated.EXE-1] [INFO] [1750715414.641058400] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/nav2_lifecycle_manager_core.dll
[component_container_isolated.EXE-1] [INFO] [1750715414.645460100] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated.EXE-1] [INFO] [1750715414.645496000] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[rviz2.EXE-2] [INFO] [1750715415.336144000] [rviz2]: Stereo is NOT SUPPORTED
[rviz2.EXE-2] [INFO] [1750715415.336326500] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2.EXE-2] [INFO] [1750715415.370494600] [rviz2]: Stereo is NOT SUPPORTED
[rviz2.EXE-2] [INFO] [1750715415.429828600] [rviz2]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2.EXE-2]
[rviz2.EXE-2] [INFO] [1750715415.430319100] [rviz2]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2.EXE-2]
[rviz2.EXE-2] [INFO] [1750715415.440123600] [rviz2]: Subscribing to: /local_costmap/voxel_marked_cloud
[rviz2.EXE-2]
[rviz2.EXE-2] [INFO] [1750715415.496963100] [rviz2]: Subscribing to: /global_costmap/voxel_marked_cloud
[rviz2.EXE-2]
[rviz2.EXE-2] [INFO] [1750715415.837421000] [rviz2]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2.EXE-2]
[rviz2.EXE-2] [INFO] [1750715415.869431600] [rviz2]: Subscribing to: /local_costmap/voxel_marked_cloud
[rviz2.EXE-2]
[rviz2.EXE-2] [INFO] [1750715415.932611200] [rviz2]: Subscribing to: /global_costmap/voxel_marked_cloud
[rviz2.EXE-2]
[rviz2.EXE-2] [WARN] [1750715416.045457500] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.EXE-2] [INFO] [1750715416.049578500] [rviz2]: Trying to load plugins...
[ERROR] [component_container_isolated.EXE-1]: process has died [pid 31444, exit code 3221225477, cmd 'C:\Users\tabor\robostack\.pixi\envs\jazzy\Library\lib\rclcpp_components\component_container_isolated.EXE --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file C:\Users\tabor\AppData\Local\Temp\launch_params_sqbgb0ql --params-file C:\Users\tabor\AppData\Local\Temp\launch_params_3gjqdckc -r /tf:=tf -r /tf_static:=tf_static'].
[component_container_isolated.EXE-1] [INFO] [1750715414.652879500] [lifecycle_
[rviz2.EXE-2] [WARN] [1750715416.050998300] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.EXE-2] [INFO] [1750715417.060072900] [rviz2]: controller_server service not available
[rviz2.EXE-2] [INFO] [1750715418.245206300] [rviz2]: planner_server service not available
[rviz2.EXE-2] [INFO] [1750715419.430294900] [rviz2]: controller_server service not available
[rviz2.EXE-2] [INFO] [1750715420.615212000] [rviz2]: smoother_server service not available
[rviz2.EXE-2] [INFO] [1750715421.797391400] [rviz2]: controller_server service not available
[rviz2.EXE-2] [INFO] [1750715421.953244400] [rviz2]: Failed to load plugins. Retrying...
[rviz2.EXE-2] [INFO] [1750715421.953271300] [rviz2]: Trying to load plugins...
[rviz2.EXE-2] [INFO] [1750715422.968310400] [rviz2]: controller_server service not available
[rviz2.EXE-2] [INFO] [1750715424.142250100] [rviz2]: planner_server service not available
[rviz2.EXE-2] [INFO] [1750715425.327346100] [rviz2]: controller_server service not available
[rviz2.EXE-2] [INFO] [1750715426.513167000] [rviz2]: smoother_server service not available
[rviz2.EXE-2] [INFO] [1750715427.698751600] [rviz2]: controller_server service not available
[rviz2.EXE-2] [INFO] [1750715427.870866400] [rviz2]: Failed to load plugins. Retrying...
[rviz2.EXE-2] [INFO] [1750715427.870906900] [rviz2]: Trying to load plugins...

This works as expected in Linux with robostack-jazzy.

Installed packages

https://gist.github.com/gftabor/150e56e71af98a9566716fbcd3d3c51b

Environment info

(robostack:jazzy) C:\Users\tabor\robostack>pixi info
System
------------
       Pixi version: 0.48.0
           Platform: win-64
   Virtual packages: __win=10.0.26100=0
                   : __cuda=12.9=0
                   : __archspec=1=skylake
          Cache dir: C:\Users\tabor\AppData\Local\rattler\cache
       Auth storage: C:\Users\tabor\.rattler\credentials.json
   Config locations: C:\Users\tabor\robostack\.pixi\config.toml

Global
------------
            Bin dir: C:\Users\tabor\.pixi\bin
    Environment dir: C:\Users\tabor\.pixi\envs
       Manifest dir: C:\Users\tabor\.pixi\manifests\pixi-global.toml

Workspace
------------
               Name: robostack
            Version: 0.1.0
      Manifest file: C:\Users\tabor\robostack\pixi.toml
       Last updated: 23-06-2025 12:35:01

Environments
------------
        Environment: default
           Features: default
           Channels: https://prefix.dev/conda-forge
   Dependency count: 9
       Dependencies: python, compilers, cmake, pkg-config, make, ninja, pip, apriltag, vs2022_win-64
   Target platforms: win-64
    Prefix location: C:\Users\tabor\robostack\.pixi\envs\default

        Environment: noetic
           Features: noetic, default
           Channels: https://prefix.dev/robostack-noetic, https://prefix.dev/conda-forge
   Dependency count: 12
       Dependencies: ros-noetic-desktop, catkin_tools, rosdep, python, compilers, cmake, pkg-config, make, ninja, pip, apriltag, vs2022_win-64
   Target platforms: win-64
    Prefix location: C:\Users\tabor\robostack\.pixi\envs\noetic

        Environment: humble
           Features: humble, default
           Channels: https://prefix.dev/robostack-humble, https://prefix.dev/conda-forge
   Dependency count: 11
       Dependencies: ros-humble-desktop, rosdep, python, compilers, cmake, pkg-config, make, ninja, pip, apriltag, vs2022_win-64
   Target platforms: win-64
    Prefix location: C:\Users\tabor\robostack\.pixi\envs\humble

        Environment: jazzy
           Features: jazzy, default
           Channels: https://prefix.dev/robostack-jazzy, https://prefix.dev/conda-forge
   Dependency count: 21
       Dependencies: ros-jazzy-desktop-full, python, ros-jazzy-turtlebot3, ros-jazzy-turtlebot3-msgs, ros-jazzy-navigation2, ros-jazzy-nav2-bringup, ros-jazzy-turtlebot3-simulations, colcon-common-extensions, rosdep, ros-jazzy-ament-cmake-vendor-package, ros-jazzy-apriltag-msgs, ros-jazzy-ament-cmake-clang-format, ros-jazzy-apriltag, compilers, cmake, pkg-config, make, ninja, pip, apriltag, vs2022_win-64
   Target platforms: win-64
    Prefix location: C:\Users\tabor\robostack\.pixi\envs\jazzy

[traversaro]

Is this with conda-forge's ogre installed or not? I suspect there may be more conflicts there in vendored ogre libraries.

[gftabor]

Is this with conda-forge's ogre installed or not? I suspect there may be more conflicts there in vendored ogre libraries.

Desktop-full so definitely has conda-forge ogre installed.

I suspected the rviz crashes at the end were related to
#57 , but the nav stack component container crashing as well was the main thing I noticed.

[traversaro]

Isn't that still related to rviz? Anyhow, I think this is still related to #57, simply that the loaded plugin pull in other RViz libraries (not renamed by the RVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ) that result in the crash. Are you running the patched version of rviz? In that case, you can try to add more change of names in https://github.com/ros2/rviz/blob/rolling/rviz_ogre_vendor/patches/0005-mangle-library-names-used-by-rviz.patch to see if that fixes the problem. For a more direct approach, you can use procmon to monitor which .dll are loaded in the process, and check if any ogre library is loaded before the crash.

[gftabor]

If I delete rviz from the roslaunch file.

(robostack:jazzy) C:\Users\tabor\robostack>ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True
[INFO] [launch]: All log files can be found below C:\Users\tabor\.ros\log\2025-06-24-11-46-23-232835-tabor-53472
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_isolated.EXE-1]: process started with pid [51716]
[component_container_isolated.EXE-1] [INFO] [1750779985.367169600] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/map_server_core.dll
[component_container_isolated.EXE-1] [INFO] [1750779985.569657500] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated.EXE-1] [INFO] [1750779985.569688300] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated.EXE-1] [INFO] [1750779985.569691600] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated.EXE-1] [INFO] [1750779985.569704500] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated.EXE-1] [INFO] [1750779985.632024800] [map_server]:
[component_container_isolated.EXE-1]    map_server lifecycle node launched.
[component_container_isolated.EXE-1]    Waiting on external lifecycle transitions to activate
[component_container_isolated.EXE-1]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated.EXE-1] [INFO] [1750779985.632048800] [map_server]: Creating
[component_container_isolated.EXE-1] [INFO] [1750779985.637579600] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/amcl_core.dll
[component_container_isolated.EXE-1] [INFO] [1750779985.739749100] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated.EXE-1] [INFO] [1750779985.739784700] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated.EXE-1] [INFO] [1750779985.742472700] [amcl]:
[component_container_isolated.EXE-1]    amcl lifecycle node launched.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated.EXE-1]    Waiting on external lifecycle transitions to activate
[component_container_isolated.EXE-1]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated.EXE-1] [INFO] [1750779985.761278700] [amcl]: Creating
[component_container_isolated.EXE-1] [INFO] [1750779985.767163700] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/controller_server_core.dll
[component_container_isolated.EXE-1] [INFO] [1750779985.905036300] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated.EXE-1] [INFO] [1750779985.905072700] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated.EXE-1] [INFO] [1750779985.907481300] [controller_server]:
[component_container_isolated.EXE-1]    controller_server lifecycle node launched.
[component_container_isolated.EXE-1]    Waiting on external lifecycle transitions to activate
[component_container_isolated.EXE-1]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated.EXE-1] [INFO] [1750779986.160961600] [controller_server]: Creating controller server
[component_container_isolated.EXE-1] [INFO] [1750779986.164698700] [local_costmap.local_costmap]:
[component_container_isolated.EXE-1]    local_costmap lifecycle node launched.
[component_container_isolated.EXE-1]    Waiting on external lifecycle transitions to activate
[component_container_isolated.EXE-1]    See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated.EXE-1] [INFO] [1750779986.184054200] [local_costmap.local_costmap]: Creating Costmap
[component_container_isolated.EXE-1] [INFO] [1750779986.190140500] [nav2_container]: Load Library: C:\Users\tabor\robostack\.pixi\envs\jazzy\Library/bin/nav2_lifecycle_manager_core.dll
[component_container_isolated.EXE-1] [INFO] [1750779986.281202900] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated.EXE-1] [INFO] [1750779986.281231800] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[ERROR] [component_container_isolated.EXE-1]: process has died [pid 51716, exit code 3221225477, cmd 'C:\Users\tabor\robostack\.pixi\envs\jazzy\Library\lib\rclcpp_components\component_container_isolated.EXE --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file C:\Users\tabor\AppData\Local\Temp\launch_params_g6_y6nj1 --params-file C:\Users\tabor\AppData\Local\Temp\launch_params_fn4b962r -r /tf:=tf -r /tf_static:=tf_static'].
[component_container_isolated.EXE-1] [INFO] [1750779986.3

[gftabor]

This seems pretty isolated.

(robostack:jazzy) C:\Users\tabor\robostack>ros2 run nav2_lifecycle_manager lifecycle_manager
[INFO] [1750799762.389907400] [lifecycle_manager]: Creating
[ros2run]: Process exited with failure 3221226505

On Linux I get

(robostack:jazzy) tabor@taborwork:~/robostack$ ros2 run nav2_lifecycle_manager lifecycle_manager
[INFO] [1750800570.410327117] [lifecycle_manager]: Creating
terminate called after throwing an instance of 'rclcpp::exceptions::ParameterUninitializedException'
  what():  parameter 'node_names' is not initialized
[ros2run]: Aborted

Where it crashes because I am not configuring the node at all.

[traversaro]

Thanks for the investigation. 3221226505 means 0xC0000409 that means STATUS_STACK_BUFFER_OVERRUN. Probably having some sort of backtrace would be the wayto investigate. Probably running it directly from the lifecycle_manager executable instead of via ros2 run could also provide more informative errors I guess.

[gftabor]

(robostack:jazzy) C:\Users\tabor\robostack\.pixi\envs\jazzy\Library\lib\nav2_lifecycle_manager>lifecycle_manager.exe --verbose
[INFO] [1750868525.326289700] [lifecycle_manager]: Creating

It ends but doesnt throw a direct error. Makes sense as its ros2run that is printing the exit with failure X.

My next step was building from source.

Building the jazzy branch of nav2 from source had this more complicated error than I expected.

C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(95,3): error C2065: 'sched_param': undeclared identifier [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(95,15): error C2146: syntax error: missing ';' before identifier 'sch' [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(95,15): error C2065: 'sch': undeclared identifier [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(96,3): error C2065: 'sch': undeclared identifier [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(97,29): error C2065: 'SCHED_FIFO': undeclared identifier [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(97,42): error C2065: 'sch': undeclared identifier [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\node_utils.cpp(97,7): error C3861: 'sched_setscheduler': identifier not found [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\robot_utils.cpp(67,36): warning C4101: 'ex': unreferenced local variable [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
C:\Users\tabor\robostack\nav_ws\src\navigation2\nav2_util\src\robot_utils.cpp(71,38): warning C4101: 'ex': unreferenced local variable [C:\Users\tabor\robostack\nav_ws\build\nav2_util\src\nav2_util_core.vcxproj]
  Building Custom Rule C:/Users/tabor/robostack/.pixi/envs/jazzy/Library/src/gtest_vendor/CMakeLists.txt

I also had to port ros-navigation/navigation2@408fbb8
to jazzy branch, but that was trivial. Part of my confusion is, how is robostack building these libraries that I can't build locally?

[gftabor]

Ahh there is a patch for this in robostack, missed it.

[gftabor]

I have been able to track the crashing to this exact line.

https://github.com/ros-navigation/navigation2/blob/jazzy/nav2_lifecycle_manager/src/lifecycle_manager.cpp#L109

Commenting it out gets the full nav stuck to run.

[gftabor]

So farther than that.

It's this line
https://github.com/ros/diagnostics/blob/ros2-jazzy/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.hpp#L341

Which I think is because virtual methods don't exported correctly by https://cmake.org/cmake/help/latest/prop_tgt/WINDOWS_EXPORT_ALL_SYMBOLS.html

And it need explicit exporting

[gftabor]

Building these packages
#90
with these patches from source with colcon did solve my problem locally. However, it doesn't seem like the new conda packages act the same. Still more digging before I can close this issue.

On a related note, I was hoping to merge into nav2 all the patches we have.

ros-navigation/navigation2#5333

Not totally sure if @traversaro had a reason behind not trying to merge them. There definitely are a few where balancing windows building and linux code cleanliness might be difficult.