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navigation.launch.py with amcl crash bringup.launch.py #32

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MattiaDeiRossi opened this issue Jul 24, 2023 · 6 comments
Open

navigation.launch.py with amcl crash bringup.launch.py #32

MattiaDeiRossi opened this issue Jul 24, 2023 · 6 comments

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@MattiaDeiRossi
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Hi,

Running following commands on real robot:

  • ros2 launch neo_mpo_700-2 bringup.launch.py
  • ros2 launch neo_mpo_700-2 navigation.launch.py use_amcl:=True map:="install/awcombo_bringup/share/awcombo_bringup/maps/demo_area.yaml"

the second command drops everything,

I attach its output:

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-07-24-14-36-59-614044-mmo-700-automationware-18565
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_server-1]: process started with pid [18566]
[INFO] [amcl-2]: process started with pid [18568]
[INFO] [lifecycle_manager-3]: process started with pid [18570]
[INFO] [controller_server-4]: process started with pid [18572]
[INFO] [planner_server-5]: process started with pid [18574]
[INFO] [behavior_server-6]: process started with pid [18576]
[INFO] [bt_navigator-7]: process started with pid [18589]
[INFO] [waypoint_follower-8]: process started with pid [18604]
[INFO] [lifecycle_manager-9]: process started with pid [18607]
[amcl-2] [INFO] [1690202220.706726059] [amcl]: 
[amcl-2] 	amcl lifecycle node launched. 
[amcl-2] 	Waiting on external lifecycle transitions to activate
[amcl-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-2] [INFO] [1690202220.708001398] [amcl]: Creating
[controller_server-4] [INFO] [1690202220.719549483] [controller_server]: 
[controller_server-4] 	controller_server lifecycle node launched. 
[controller_server-4] 	Waiting on external lifecycle transitions to activate
[controller_server-4] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-4] [INFO] [1690202220.728181897] [controller_server]: Creating controller server
[behavior_server-6] [INFO] [1690202220.737453253] [behavior_server]: 
[behavior_server-6] 	behavior_server lifecycle node launched. 
[behavior_server-6] 	Waiting on external lifecycle transitions to activate
[behavior_server-6] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[lifecycle_manager-3] [INFO] [1690202220.738609735] [lifecycle_manager_localization]: Creating
[lifecycle_manager-3] [INFO] [1690202220.742314942] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[lifecycle_manager-9] [INFO] [1690202220.767911642] [lifecycle_manager_navigation]: Creating
[map_server-1] [INFO] [1690202220.768162363] [map_server]: 
[map_server-1] 	map_server lifecycle node launched. 
[map_server-1] 	Waiting on external lifecycle transitions to activate
[map_server-1] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-1] [INFO] [1690202220.768270393] [map_server]: Creating
[lifecycle_manager-9] [INFO] [1690202220.770655783] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[planner_server-5] [INFO] [1690202220.778987869] [planner_server]: 
[planner_server-5] 	planner_server lifecycle node launched. 
[planner_server-5] 	Waiting on external lifecycle transitions to activate
[planner_server-5] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-4] [INFO] [1690202220.780803419] [local_costmap.local_costmap]: 
[controller_server-4] 	local_costmap lifecycle node launched. 
[controller_server-4] 	Waiting on external lifecycle transitions to activate
[controller_server-4] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-4] [INFO] [1690202220.781840583] [local_costmap.local_costmap]: Creating Costmap
[planner_server-5] [INFO] [1690202220.782864627] [planner_server]: Creating
[waypoint_follower-8] [INFO] [1690202220.814401270] [waypoint_follower]: 
[waypoint_follower-8] 	waypoint_follower lifecycle node launched. 
[waypoint_follower-8] 	Waiting on external lifecycle transitions to activate
[waypoint_follower-8] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-5] [INFO] [1690202220.815796935] [global_costmap.global_costmap]: 
[planner_server-5] 	global_costmap lifecycle node launched. 
[planner_server-5] 	Waiting on external lifecycle transitions to activate
[planner_server-5] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-5] [INFO] [1690202220.816693300] [global_costmap.global_costmap]: Creating Costmap
[bt_navigator-7] [INFO] [1690202220.817823769] [bt_navigator]: 
[bt_navigator-7] 	bt_navigator lifecycle node launched. 
[bt_navigator-7] 	Waiting on external lifecycle transitions to activate
[bt_navigator-7] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-8] [INFO] [1690202220.817893803] [waypoint_follower]: Creating
[bt_navigator-7] [INFO] [1690202220.817937049] [bt_navigator]: Creating
[lifecycle_manager-3] [INFO] [1690202220.878086630] [lifecycle_manager_localization]: Starting managed nodes bringup...
[lifecycle_manager-3] [INFO] [1690202220.878138358] [lifecycle_manager_localization]: Configuring map_server
[map_server-1] [INFO] [1690202220.878416923] [map_server]: Configuring
[map_server-1] [INFO] [map_io]: Loading yaml file: install/awcombo_bringup/share/awcombo_bringup/maps/demo_area.yaml
[map_server-1] [DEBUG] [map_io]: resolution: 0.03
[map_server-1] [DEBUG] [map_io]: origin[0]: -16.6
[map_server-1] [DEBUG] [map_io]: origin[1]: -4.26
[map_server-1] [DEBUG] [map_io]: origin[2]: 0
[map_server-1] [DEBUG] [map_io]: free_thresh: 0.25
[map_server-1] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-1] [DEBUG] [map_io]: mode: trinary
[map_server-1] [DEBUG] [map_io]: negate: 0
[map_server-1] [INFO] [map_io]: Loading image_file: install/awcombo_bringup/share/awcombo_bringup/maps/demo_area.pgm
[lifecycle_manager-9] [INFO] [1690202220.894411189] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-9] [INFO] [1690202220.894462160] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-4] [INFO] [1690202220.894676495] [controller_server]: Configuring controller interface
[controller_server-4] [INFO] [1690202220.894906062] [controller_server]: getting goal checker plugins..
[controller_server-4] [INFO] [1690202220.895055277] [controller_server]: Controller frequency set to 50.0000Hz
[controller_server-4] [INFO] [1690202220.895086787] [local_costmap.local_costmap]: Configuring
[controller_server-4] [INFO] [1690202220.901804917] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[controller_server-4] [INFO] [1690202220.905933135] [local_costmap.local_costmap]: Subscribed to Topics: scan scan1
[controller_server-4] [INFO] [1690202220.912938621] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[controller_server-4] [INFO] [1690202220.912969401] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-4] [INFO] [1690202220.914530420] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-4] [INFO] [1690202220.923054411] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-4] [INFO] [1690202220.923959375] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-4] [INFO] [1690202220.924403127] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[controller_server-4] [INFO] [1690202220.926675823] [controller_server]: Created controller : FollowPath of type neo_local_planner::NeoLocalPlanner
[controller_server-4] [INFO] [1690202220.940928660] [controller_server]: Controller Server has FollowPath  controllers available.
[lifecycle_manager-9] [INFO] [1690202220.946774288] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-5] [INFO] [1690202220.946967136] [planner_server]: Configuring
[planner_server-5] [INFO] [1690202220.947000469] [global_costmap.global_costmap]: Configuring
[planner_server-5] [INFO] [1690202220.951428826] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-5] [INFO] [1690202220.955013009] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-5] [INFO] [1690202220.956223537] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-5] [INFO] [1690202220.956248768] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-5] [INFO] [1690202220.957055980] [global_costmap.global_costmap]: Subscribed to Topics: scan scan1
[planner_server-5] [INFO] [1690202220.965207079] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-5] [INFO] [1690202220.965270046] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-5] [INFO] [1690202220.966876923] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-5] [INFO] [1690202220.976016865] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-5] [INFO] [1690202220.976055402] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-5] [INFO] [1690202220.976676566] [planner_server]: Planner Server has GridBased  planners available.
[lifecycle_manager-9] [INFO] [1690202220.985033370] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-6] [INFO] [1690202220.985233165] [behavior_server]: Configuring
[map_server-1] [DEBUG] [map_io]: Read map install/awcombo_bringup/share/awcombo_bringup/maps/demo_area.pgm: 899 X 1014 map @ 0.03 m/cell
[behavior_server-6] [INFO] [1690202220.992983128] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-6] [INFO] [1690202220.993854216] [behavior_server]: Configuring spin
[lifecycle_manager-3] [INFO] [1690202220.999190776] [lifecycle_manager_localization]: Configuring amcl
[amcl-2] [INFO] [1690202220.999471627] [amcl]: Configuring
[amcl-2] [INFO] [1690202220.999562623] [amcl]: initTransforms
[behavior_server-6] [INFO] [1690202221.002560072] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-6] [INFO] [1690202221.003410980] [behavior_server]: Configuring backup
[amcl-2] [INFO] [1690202221.007935306] [amcl]: initPubSub
[behavior_server-6] [INFO] [1690202221.012147401] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-6] [INFO] [1690202221.013101344] [behavior_server]: Configuring wait
[amcl-2] [INFO] [1690202221.013848355] [amcl]: Subscribed to map topic.
[amcl-2] [ERROR] [1690202221.018447688] []: Caught exception in callback for transition 10
[amcl-2] [ERROR] [1690202221.018470480] []: Original error: According to the loaded plugin descriptions the class omnidirectional with base class type nav2_amcl::MotionModel does not exist. Declared types are  nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel
[amcl-2] [WARN] [1690202221.018496188] []: Error occurred while doing error handling.
[amcl-2] [FATAL] [1690202221.018505803] [amcl]: Lifecycle node amcl does not have error state implemented
[lifecycle_manager-3] [ERROR] [1690202221.019066413] [lifecycle_manager_localization]: Failed to change state for node: amcl
[lifecycle_manager-3] [ERROR] [1690202221.019096948] [lifecycle_manager_localization]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-9] [INFO] [1690202223.508765787] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-7] [INFO] [1690202223.509119186] [bt_navigator]: Configuring
[lifecycle_manager-9] [INFO] [1690202224.450062335] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-8] [INFO] [1690202224.678599240] [waypoint_follower]: Configuring
[waypoint_follower-8] [INFO] [1690202224.860790022] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-9] [INFO] [1690202224.884255722] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-4] [INFO] [1690202224.886690991] [controller_server]: Activating
[controller_server-4] [INFO] [1690202224.886730158] [local_costmap.local_costmap]: Activating
[controller_server-4] [INFO] [1690202224.886743265] [local_costmap.local_costmap]: Checking transform
[controller_server-4] [INFO] [1690202224.886767910] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202225.386825183] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202225.886836156] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202226.386820256] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202226.886824398] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202227.386821885] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202227.886824274] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202228.386822618] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202228.886820573] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202229.386822340] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202229.886820996] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202230.386820996] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202230.886837010] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202231.386824619] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202231.886821982] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202232.386822328] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202232.886821144] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202233.386813379] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202233.886822237] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202234.386823969] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1690202234.886792772] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[lifecycle_manager-9] [INFO] [1690202235.357544181] [rclcpp]: signal_handler(signum=2)
[waypoint_follower-8] [INFO] [1690202235.357543997] [rclcpp]: signal_handler(signum=2)
[behavior_server-6] [INFO] [1690202235.357549912] [rclcpp]: signal_handler(signum=2)
[bt_navigator-7] [INFO] [1690202235.357555604] [rclcpp]: signal_handler(signum=2)
[amcl-2] [INFO] [1690202235.357560326] [rclcpp]: signal_handler(signum=2)
[planner_server-5] [INFO] [1690202235.357590474] [rclcpp]: signal_handler(signum=2)
[map_server-1] [INFO] [1690202235.357613033] [rclcpp]: signal_handler(signum=2)
[lifecycle_manager-9] [ERROR] [1690202235.358268831] [lifecycle_manager_navigation]: Failed to change state for node: controller_server
[lifecycle_manager-9] [ERROR] [1690202235.358279388] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[controller_server-4] [INFO] [1690202235.357596395] [rclcpp]: signal_handler(signum=2)
[controller_server-4] [INFO] [1690202235.359589606] [local_costmap.local_costmap]: start
[controller_server-4] [ERROR] [1690202235.359720527] []: Caught exception in callback for transition 13
[controller_server-4] [ERROR] [1690202235.359726115] []: Original error: could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428
[controller_server-4] [ERROR] [1690202235.359740663] []: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368)
[controller_server-4] [INFO] [1690202235.359823795] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[controller_server-4] [ERROR] [1690202235.359937728] []: Caught exception in callback for transition 13
[controller_server-4] [ERROR] [1690202235.359942338] []: Original error: could not create publisher: rcl node's context is invalid, at ./src/rcl/node.c:428
[controller_server-4] [ERROR] [1690202235.359947572] []: Failed to finish transition 3. Current state is now: errorprocessing (Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:389, at ./src/rcl_lifecycle.c:368)
[lifecycle_manager-3] [INFO] [1690202235.359203038] [rclcpp]: signal_handler(signum=2)
[map_server-1] [INFO] [1690202235.366913849] [map_server]: Destroying
[planner_server-5] [INFO] [1690202235.370310587] [planner_server]: Destroying plugin GridBased of type NavfnPlanner
[planner_server-5] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[planner_server-5]          at line 127 in ./src/class_loader.cpp
[waypoint_follower-8] [INFO] [1690202235.380406344] [waypoint_follower]: Destroying
[amcl-2] [INFO] [1690202235.393970241] [amcl]: Destroying
[controller_server-4] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[controller_server-4]          at line 127 in ./src/class_loader.cpp
[controller_server-4] terminate called without an active exception
[INFO] [lifecycle_manager-3]: process has finished cleanly [pid 18570]
[INFO] [lifecycle_manager-9]: process has finished cleanly [pid 18607]
[ERROR] [controller_server-4]: process has died [pid 18572, exit code -6, cmd '/opt/ros/humble/lib/nav2_controller/controller_server --ros-args --params-file /tmp/tmp0xgkk65b -r /tf:=tf -r /tf_static:=tf_static'].
[planner_server-5] [INFO] [1690202235.538317791] [global_costmap.global_costmap]: Destroying
[behavior_server-6] [INFO] [1690202235.609758204] [behavior_server]: Destroying
[INFO] [map_server-1]: process has finished cleanly [pid 18566]
[INFO] [waypoint_follower-8]: process has finished cleanly [pid 18604]
[INFO] [amcl-2]: process has finished cleanly [pid 18568]
[INFO] [behavior_server-6]: process has finished cleanly [pid 18576]
[planner_server-5] [INFO] [1690202235.946865935] [planner_server]: Destroying
[bt_navigator-7] [INFO] [1690202235.970213210] [bt_navigator]: Destroying
[INFO] [planner_server-5]: process has finished cleanly [pid 18574]
[INFO] [bt_navigator-7]: process has finished cleanly [pid 18589]

Do you know why?
@padhupradheep
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Hello @MattiaDeiRossi

The issue seems to occur in these lines

[amcl-2] [ERROR] [1690202221.018447688] []: Caught exception in callback for transition 10
[amcl-2] [ERROR] [1690202221.018470480] []: Original error: According to the loaded plugin descriptions the class omnidirectional with base class type nav2_amcl::MotionModel does not exist. Declared types are  nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel

The robot_model_type parameter must have nav2_amcl::OmniMotionModel as mentioned in the documentation here.

Thanks for reporting it, this needs to be updated on both the rolling and the humble branch. Sorry for overseeing it, since we always stick with neo_localization, we never tested AMCL in the recent days.

If you are interested, if the solution works, you can give us a PR and I'll be happy to review it.

@MattiaDeiRossi
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Hi @padhupradheep ,

Thank you for your answer,

We were trying to run a simple demo with BasicNavigator of Nav2 framework and it needs a default "localizer service" (amcl/get_state) to initialize the node; but when using neo_localizer we don't find any corresponding service.

Do you have an example already implemented?

ASAP we will give you a PR

@padhupradheep
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Nav2 framework and it needs a default "localizer service" (amcl/get_state)

At the moment, we do not have something like this implemented for neo_localization.

Could you share me the link of the BasicNavigator ? I can take a look and probably may add the necessary service to the neo_localization..

@MattiaDeiRossi
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Sure,

here you are https://navigation.ros.org/commander_api/index.html

@padhupradheep
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Ah right, AMCL is a Lifecycle node. Unfortunately neo_localization is not a lifecycle node. It will not be possible to provide the necessary lifecycle states, since the node by default is not a lifecycle node.

I've added it to my ToDo list and you can follow the issue here neobotix/neo_localization2#28 if you are interested in the developments.

Once again, thanks for reporting, customers like you make our products better..

@padhupradheep
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Thanks to @MattiaDeiRossi , the issue on humble is solved.

Will close the issue once I update the solution in rolling too..

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