I am running a new behavior plugin tutorial on ros2galactic with reference to the document below. https://navigation.ros.org/plugin_tutorials/docs/writing_new_behavior_plugin.html

Please tell me the reason for the following error.

[bt_navigator-7] [ERROR] [1676352851.699115317] []: Caught exception in callback for transition 13
[bt_navigator-7] [ERROR] [1676352851.699134372] []: Original error: Error at line 37: -> Node not recognized: send_sms
[bt_navigator-7] [WARN] [1676352851.699166162] []: Error occurred while doing error handling.
[bt_navigator-7] [FATAL] [1676352851.699178704] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-9] [ERROR] [1676352851.699621767] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-9] [ERROR] [1676352851.699658466] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

The main branch of the navigationtutorial project is humble, but galactic can be found below. https://github.com/ros-planning/navigation2tutorials/tree/126902457c5c646b136569886d6325f070c1073d/nav2smsrecovery Putting this code in ros2_ws/src made the build successful.

Next, I added send_sms after the recovery actions Spin, Wait, BackUp in the XML file of the behavior tree as shown below.

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PipelineSequence name="NavigateWithReplanning">
        <RateController hz="1.0">
          <RecoveryNode number_of_retries="1" name="ComputePathToPose">
            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
            <ReactiveFallback name="ComputePathToPoseRecoveryFallback">
              <GoalUpdated/>
              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
            </ReactiveFallback>
          </RecoveryNode>
        </RateController>
        <RecoveryNode number_of_retries="1" name="FollowPath">
          <FollowPath path="{path}" controller_id="FollowPath"/>
          <ReactiveFallback name="FollowPathRecoveryFallback">
            <GoalUpdated/>
            <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
          </ReactiveFallback>
        </RecoveryNode>
      </PipelineSequence>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
        <RoundRobin name="RecoveryActions">
          <Sequence name="ClearingActions">
            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
          </Sequence>
          <Spin spin_dist="1.57"/>
          <Wait wait_duration="5"/>
          <BackUp backup_dist="0.15" backup_speed="0.025"/>
          <send_sms/>
        </RoundRobin>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>

And replaced the params file with:

recoveries_server:
   ros_parameters:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
     recovery_plugins: [spin, backup, wait, send_sms]
     spin:
       plugin: nav2_recoveries/Spin
     backup:
       plugin: nav2_recoveries/BackUp
     wait:
       plugin: nav2_recoveries/Wait
     send_sms:
       # plugin: nav2_sms_behavior/SendSms
       plugin: nav2_sms_recovery/SMSRecovery
       account_sid: A*********
       auth_token: a*********
       from_number: "**********"
       to_number: "**********"

I build and try to start navigation, but I get the following error:

[bt_navigator-7] [ERROR] [1676352851.699115317] []: Caught exception in callback for transition 13
[bt_navigator-7] [ERROR] [1676352851.699134372] []: Original error: Error at line 37: -> Node not recognized: send_sms
[bt_navigator-7] [WARN] [1676352851.699166162] []: Error occurred while doing error handling.
[bt_navigator-7] [FATAL] [1676352851.699178704] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-9] [ERROR] [1676352851.699621767] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-9] [ERROR] [1676352851.699658466] [lifecycle_manager_navigation]: Failed to bring up all requested nodes.

Please let me know if you know the cause.

[bt_navigator-7] [ERROR] [1676352851.699134372] []: Original error: Error at line 37: -> Node not recognized: send_sms