OS:Ubuntu20.04
Dist:ROS2 galactic
arch:x86-64

I want to use nav2 keepout filter and speed limit filter.
I have run two launch files for that, but can't get them to run.
What should I do?　　

The method of changing nodename failed to load yaml (due to lifecycle?). I tried to change nodename, but it failed.　 　

So we tried to distinguish them by namespace, but failed.

main launch
speed filter launch
keepout launch

[INFO] [launch]: All log files can be found below /home/fig/.ros/log/2022-07-11-11-10-39-298959-MOUSE-27799 [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [lifecyclemanager-4]: there are now at least 2 nodes with the name /spd/lifecyclemanagercostmapfilters created within this launch context [WARNING] [mapserver-5]: there are now at least 2 nodes with the name /spd/filtermaskserver created within this launch context [WARNING] [costmapfilterinfo_server-6]: there are now at least 2 nodes with the name /spd/costmapfilterinfoserver created within this launch context [INFO] [lifecyclemanager-1]: process started with pid [27801] [INFO] [mapserver-2]: process started with pid [27803] [INFO] [costmapfilterinfoserver-3]: process started with pid [27805] [INFO] [lifecyclemanager-4]: process started with pid [27807] [INFO] [mapserver-5]: process started with pid [27809] [INFO] [costmapfilterinfoserver-6]: process started with pid [27811] [costmapfilterinfoserver-3] [INFO] [1657505439.704125555] [costmapfilterinfoserver]: This is costmap filter info publisher [costmapfilterinfoserver-6] [INFO] [1657505439.710063563] [costmapfilterinfoserver]: This is costmap filter info publisher [lifecyclemanager-1] [INFO] [1657505439.713526671] [spd.lifecyclemanagercostmapfilters]: Creating [lifecyclemanager-1] [INFO] [1657505439.716429123] [spd.lifecyclemanagercostmapfilters]: Creating and initializing lifecycle service clients [lifecyclemanager-4] [INFO] [1657505439.719406733] [spd.lifecyclemanagercostmapfilters]: Creating [lifecyclemanager-1] [INFO] [1657505439.719352112] [spd.lifecyclemanagercostmapfilters]: Starting managed nodes bringup... [lifecyclemanager-1] [INFO] [1657505439.721555257] [spd.lifecyclemanagercostmapfilters]: Configuring filtermaskserver [lifecyclemanager-4] [INFO] [1657505439.723243509] [spd.lifecyclemanagercostmapfilters]: Creating and initializing lifecycle service clients [lifecyclemanager-4] [INFO] [1657505439.726027910] [spd.lifecyclemanagercostmapfilters]: Starting managed nodes bringup... [lifecyclemanager-4] [INFO] [1657505439.726121934] [spd.lifecyclemanagercostmapfilters]: Configuring filtermaskserver [costmapfilterinfoserver-3] [INFO] [1657505439.733933507] [spd.costmapfilterinfoserver]: [costmapfilterinfoserver-3] costmapfilterinfoserver lifecycle node launched. [costmapfilterinfoserver-3] Waiting on external lifecycle transitions to activate [costmapfilterinfoserver-3] See https://design.ros2.org/articles/node_lifecycle.html for more information. [costmapfilterinfoserver-6] [INFO] [1657505439.735448959] [spd.costmapfilterinfoserver]: [costmapfilterinfoserver-6] costmapfilterinfoserver lifecycle node launched. [costmapfilterinfoserver-6] Waiting on external lifecycle transitions to activate [costmapfilterinfoserver-6] See https://design.ros2.org/articles/node_lifecycle.html for more information. [mapserver-5] [INFO] [1657505439.741682290] [spd.filtermaskserver]: [mapserver-5] filtermaskserver lifecycle node launched. [mapserver-5] Waiting on external lifecycle transitions to activate [mapserver-5] See https://design.ros2.org/articles/node_lifecycle.html for more information. [mapserver-5] [INFO] [1657505439.741823221] [spd.filtermaskserver]: Creating [mapserver-2] [INFO] [1657505439.747223899] [spd.filtermask_server]: [mapserver-2] filtermaskserver lifecycle node launched. [mapserver-2] Waiting on external lifecycle transitions to activate [mapserver-2] See https://design.ros2.org/articles/node_lifecycle.html for more information. [mapserver-2] [INFO] [1657505439.747427392] [spd.filtermaskserver]: Creating [mapserver-5] [INFO] [1657505439.755656634] [spd.filtermask_server]: Configuring [map_server-5] [INFO] [mapio]: Loading yaml file: /home/fig/workspace/nav2test/src/navigation2tutorials/nav2costmapfiltersdemo/maps/speedmask.yaml [mapserver-5] [DEBUG] [map_io]: resolution: 0.05 [map_server-5] [DEBUG] [mapio]: origin[0]: -10 [mapserver-5] [DEBUG] [map_io]: origin[1]: -10 [map_server-5] [DEBUG] [mapio]: origin[2]: 0 [mapserver-5] [DEBUG] [map_io]: freethresh: 0 [mapserver-5] [DEBUG] [map_io]: occupiedthresh: 1 [mapserver-5] [DEBUG] [map_io]: mode: scale [map_server-5] [DEBUG] [mapio]: negate: 0 [mapserver-5] [INFO] [map_io]: Loading imagefile: /home/fig/workspace/nav2test/src/navigation2tutorials/nav2costmapfiltersdemo/maps/speedmask.pgm [mapserver-5] [DEBUG] [map_io]: Read map /home/fig/workspace/nav2test/src/navigation2tutorials/nav2costmapfiltersdemo/maps/speedmask.pgm: 384 X 384 map @ 0.05 m/cell [mapserver-5] [WARN] [1657505439.782471254] [rcllifecycle]: No transition matching 1 found for current state inactive [map_server-5] [ERROR] [1657505439.782513611] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-galactic-rcl-lifecycle-3.1.3/src/rcllifecycle.c:355 [lifecyclemanager-4] [INFO] [1657505439.782798295] [spd.lifecyclemanagercostmapfilters]: Configuring costmapfilterinfoserver [lifecyclemanager-1] [ERROR] [1657505439.782988642] [spd.lifecyclemanagercostmapfilters]: Failed to change state for node: filtermaskserver [lifecyclemanager-1] [ERROR] [1657505439.783040769] [spd.lifecyclemanagercostmapfilters]: Failed to bring up all requested nodes. Aborting bringup. [costmapfilterinfoserver-3] [INFO] [1657505439.783085902] [spd.costmapfilterinfoserver]: Configuring [costmapfilterinfoserver-6] [INFO] [1657505439.783164204] [spd.costmapfilterinfoserver]: Configuring [lifecyclemanager-4] [INFO] [1657505439.786414497] [spd.lifecyclemanagercostmapfilters]: Activating filtermaskserver [mapserver-2] [WARN] [1657505439.786616981] [rcllifecycle]: No transition matching 3 found for current state unconfigured [map_server-2] [ERROR] [1657505439.786655923] []: Unable to start transition 3 from current state unconfigured: Transition is not registered., at /tmp/binarydeb/ros-galactic-rcl-lifecycle-3.1.3/src/rcllifecycle.c:355 [mapserver-5] [INFO] [1657505439.786626582] [spd.filtermaskserver]: Activating [mapserver-5] [INFO] [1657505439.786934274] [spd.filtermask_server]: Creating bond (filtermaskserver) to lifecycle manager. [lifecycle_manager-4] [ERROR] [1657505439.786870292] [rclcpp]: Received invalid sequence number. Ignoring... [lifecyclemanager-4] [ERROR] [1657505439.787065548] [spd.lifecyclemanagercostmapfilters]: Failed to change state for node: filtermask_server [lifecyclemanager-4] [ERROR] [1657505439.787107513] [spd.lifecyclemanagercostmapfilters]: Failed to bring up all requested nodes. Aborting bringup.