Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed

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ROS version: Dashing

I've launched the navigation2 on the physical robot

After I set the initial pose, both navfn_planner and map_server show some error

[navfn_planner-6] [ERROR] []: Caught exception in callback for transition 10
[navfn_planner-6] [ERROR] []: Original error: GetCostmap service client: async_send_request failed
[navfn_planner-6] [WARN] []: Error occurred while doing error handling.
[navfn_planner-6] [FATAL] [navfn_planner]: Lifecycle node entered error state
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to change state for node: navfn_planner
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to bring up node: navfn_planner, aborting bringup

[lifecycle_manager-1] [INFO] [lifecycle_manager]: Starting the system bringup...
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating and initializing lifecycle service clients 
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'laser' at time 1637655781.765 for reason(0)
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating map_server
[map_server-2] [WARN] [rcl_lifecycle]: No transition matching 1 found for current state active
[map_server-2] [ERROR] []: Unable to start transition 1 from current state active: Transition is not registered., at /tmp/binarydeb/ros-dashing-rcl-lifecycle-0.7.10/src/rcl_lifecycle.c:327
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to change state for node: map_server
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to bring up node: map_server, aborting bringup

And I have no idea what is going on

Here is my config file

amcl:
  ros__parameters:
    use_sim_time: false
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05

amcl_map_client:
  ros__parameters:
    use_sim_time: false

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: false

bt_navigator:
  ros__parameters:
    use_sim_time: false
    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"


dwb_controller:
  ros__parameters:
    use_sim_time: false
    debug_trajectory_details: True
    min_vel_x: 0.0
    min_vel_y: 0.0
    max_vel_x: 0.26
    max_vel_y: 0.0
    max_vel_theta: 1.0
    min_speed_xy: 0.0
    max_speed_xy: 0.26
    min_speed_theta: 0.0
    min_x_velocity_threshold: 0.001
    # Add high threshold velocity for turtlebot 3 issue.
    # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    acc_lim_x: 2.5
    acc_lim_y: 0.0
    acc_lim_theta: 3.2
    decel_lim_x: -2.5
    decel_lim_y: 0.0
    decel_lim_theta: -3.2
    vx_samples: 20
    vy_samples: 5
    vtheta_samples: 20
    sim_time: 1.7
    linear_granularity: 0.05
    xy_goal_tolerance: 0.25
    transform_tolerance: 0.2
    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
    BaseObstacle.scale: 0.02
    PathAlign.scale: 0.0
    GoalAlign.scale: 0.0
    PathDist.scale: 32.0
    GoalDist.scale: 24.0
    RotateToGoal.scale: 32.0


local_costmap:
  local_costmap:
    ros__parameters:
      use_sim_time: false
      global_frame: odom
      plugin_names: ["obstacle_layer", "inflation_layer"]
      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.105
      inflation_layer.cost_scaling_factor: 3.0
      obstacle_layer:
        enabled: True
      always_send_full_costmap: True
      observation_sources: scan
      scan:
        topic: /scan
        max_obstacle_height: 2.0
        clearing: True
        marking: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: false
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: false

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: false
      robot_radius: 0.105
      obstacle_layer:
        enabled: True
      always_send_full_costmap: True
      observation_sources: scan ...