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bt_navigator throwing error on startup

asked 2021-03-24 02:05:39 -0500

adi9905 gravatar image

updated 2021-03-25 06:16:22 -0500

I launched the nav2_tb3_simulation_launch.py file as stated in the navigation2 wiki, but whenever I click on Startup RViz after the turtlebot3 world loads on Gazebo, I'm getting this error:

[lifecycle_manager-5] [INFO] [lifecycle_manager]: Configuring bt_navigator
[bt_navigator-11] [INFO] [bt_navigator]: Configuring
[bt_navigator-11] [ERROR] []: Caught exception in callback for transition 10
[bt_navigator-11] [ERROR] []: Original error: Could not load library:/home/adi99/ROS2/nav2_ws/install/nav2_behavior_tree/lib/libnav2_compute_path_to_pose_action_bt_node.so: undefined symbol: _ZTIN2BT14CoroActionNodeE
[bt_navigator-11] [WARN] []: Error occurred while doing error handling.
[bt_navigator-11] [FATAL] [bt_navigator]: Lifecycle node entered error state
[lifecycle_manager-5] [ERROR] [lifecycle_manager]: Failed to change state for node: bt_navigator
[lifecycle_manager-5] [ERROR] [lifecycle_manager]: Failed to bring up nodes: aborting bringup

The map also dosent load on RViz as ros2 topic info /map shows that there are no publishers. Along with this, I keep getting this continuously:

[rviz2-3] [INFO] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 11.203 for reason 'Unknown'

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How did you install nav2?

vinny gravatar image vinny  ( 2021-03-24 09:17:18 -0500 )edit

I cloned the eloquent repostory from their github page.I also installed from binaries but both are giving this error.

adi9905 gravatar image adi9905  ( 2021-03-24 11:02:11 -0500 )edit

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answered 2021-03-26 05:38:37 -0500

adi9905 gravatar image

This issue addresses the above error. Building the navigation2 package and the BehaviourTree.CPP package from source solves the problem

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It was not clear to me that BehaviorTree.CPP is a package and not a source code file. This comment helped me to understand this, thanks ! However, the correct package name turned out to be behaviortree_cpp_v3 for eloquent. Downloading this package and the navigation2 helped. I needed to source and build back and forth between the eloquent distribution and the work space folder. Then the problem disappeared.

AndersL gravatar image AndersL  ( 2021-05-10 05:46:49 -0500 )edit

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Asked: 2021-03-24 02:05:39 -0500

Seen: 253 times

Last updated: Mar 26 '21