Navigation2 not starting properly
I have a turtlebot3 setup and working with foxy, did it yesterday. Everything seems ok.
I am running ros2 on windows, tried to follow the ros2 instructions but didn't work well, ended up using this https://ms-iot.github.io/ROSOnWindows... this did work, I can run gazebo and rviz as the page suggest and everything works.
Also cartographer works following the instructions in robotis site, teleop with keyboard works, I was able to create map using cartographer and saved the map without problem.
What is not working is the setup of navigation 2, I am using the same example which uses gazebo, but not running gazebo just the start ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=c:\nav2_ws\map.yaml part
I also try setting the initial pose by drawing the arrow on rviz, but nothing seems to happen (I did it long ago with another setup, linux)
in the logs I get
[INFO] [launch]: All log files can be found below C:\Users\glmne\.ros/log\2021-05-19-12-25-39-801830-GLM-XPS9560-14832
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [map_server.EXE-1]: process started with pid [21068]
[INFO] [amcl.EXE-2]: process started with pid [13500]
[INFO] [lifecycle_manager.EXE-3]: process started with pid [9640]
[INFO] [controller_server.EXE-4]: process started with pid [4308]
[INFO] [planner_server.EXE-5]: process started with pid [16228]
[INFO] [recoveries_server.EXE-6]: process started with pid [17244]
[INFO] [bt_navigator.EXE-7]: process started with pid [7804]
[INFO] [waypoint_follower.EXE-8]: process started with pid [8528]
[INFO] [lifecycle_manager.EXE-9]: process started with pid [22884]
[INFO] [rviz2.EXE-10]: process started with pid [12184]
[map_server.EXE-1] [INFO] [map_io]: Loading yaml file: c:\nav2_ws\map.yaml
[map_server.EXE-1] [DEBUG] [map_io]: resolution: 0.05
[map_server.EXE-1] [DEBUG] [map_io]: origin[0]: -10
[map_server.EXE-1] [DEBUG] [map_io]: origin[1]: -10
[map_server.EXE-1] [DEBUG] [map_io]: origin[2]: 0
[map_server.EXE-1] [DEBUG] [map_io]: free_thresh: 0.196
[map_server.EXE-1] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server.EXE-1] [DEBUG] [map_io]: mode: trinary
[map_server.EXE-1] [DEBUG] [map_io]: negate: 0
[map_server.EXE-1] [INFO] [map_io]: Loading image_file: ././map.pgm
[planner_server.EXE-5] [INFO] [1621437941.157281000] [planner_server]:
[planner_server.EXE-5] planner_server lifecycle node launched.
[planner_server.EXE-5] Waiting on external lifecycle transitions to activate
[planner_server.EXE-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server.EXE-5] [INFO] [1621437941.183997000] [planner_server]: Creating
[planner_server.EXE-5] [INFO] [1621437941.246202300] [global_costmap.global_costmap]:
[planner_server.EXE-5] global_costmap lifecycle node launched.
[planner_server.EXE-5] Waiting on external lifecycle transitions to activate
[map_server.EXE-1] [DEBUG] [map_io]: Read map ././map.pgm: 384 X 384 map @ 0.05 m/cell
[lifecycle_manager.EXE-3] [INFO] [1621437941.083952900] [lifecycle_manager_localization]: Creating
[lifecycle_manager.EXE-3] [INFO] [1621437941.102973700] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[lifecycle_manager.EXE-3] [INFO] [1621437941.109787600] [lifecycle_manager_localization]: Starting managed nodes bringup...
[lifecycle_manager.EXE-3] [INFO] [1621437941.109858000] [lifecycle_manager_localization]: Configuring map_server
[controller_server.EXE-4] [INFO] [1621437941.196749000] [controller_server]:
[controller_server.EXE-4] controller_server lifecycle node launched.
[controller_server.EXE-4] Waiting on external lifecycle transitions to activate
[controller_server.EXE-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server.EXE-4] [INFO] [1621437941.284152300] [controller_server]: Creating controller server
[controller_server.EXE-4] [INFO] [1621437941.351771000] [local_costmap.local_costmap]:
[controller_server.EXE-4] local_costmap ...
