bt navigator crash ?

asked 2022-01-20 09:07:04 -0600

TomSon gravatar image

updated 2022-01-20 09:07:31 -0600

Hello all,

Just a quick error since I compile the navigation stack from source, I just update the plugins inside the nav2_bt_navigator without touching the node source.

Here is the error I got

[bt_navigator-14] [INFO] [1642690335.156322425] [bt_navigator]: Configuring [bt_navigator-14] [bt_navigator-14] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [bt_navigator-14] This error state is being overwritten: [bt_navigator-14] [bt_navigator-14] 'invalid empty action name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.11/src/rcl_action/names.c:36' [bt_navigator-14] [bt_navigator-14] with this new error message: [bt_navigator-14] [bt_navigator-14]
'failed to get goal service name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.11/src/rcl_action/action_client.c:215' [bt_navigator-14] [bt_navigator-14] rcutils_reset_error() should be called after error handling to avoid this. [bt_navigator-14] <<< [bt_navigator-14] [ERROR] [1642690335.188702451] [bt_navigator_rclcpp_node.rclcpp_action]: Error in destruction of rcl action client handle: action client implementation is invalid, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.11/src/rcl_action/action_client.c:470 [bt_navigator-14] [ERROR] [1642690335.188874993] []: Caught exception in callback for transition 10 [bt_navigator-14] [ERROR] [1642690335.188889154] []: Original error: could not initialize rcl action client: failed to get goal service name, at /tmp/binarydeb/ros-foxy-rcl-action-1.1.11/src/rcl_action/action_client.c:215 [bt_navigator-14] [WARN] [1642690335.188931476] []: Error occurred while doing error handling. [bt_navigator-14] [FATAL] [1642690335.188944149] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented

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Hi @TomSon, have you reviewed this prior question #q344030. Similar error.

osilva gravatar image osilva  ( 2022-01-20 09:19:43 -0600 )edit

Thanks for your advice I try to load a simple xml and it didn't crash and it didn't display anything also, is it a correct start ?

ros2 run nav2_bt_navigator bt_navigator follow_point.xml 1642692089.531880 [0] bt_navigat: using network interface enp3s0 (udp/ selected arbitrarily from: enp3s0, docker0 [INFO] [1642692089.538415348] [bt_navigator]: bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See for more information. [INFO] [1642692089.538508998] [bt_navigator]: Creating

TomSon gravatar image TomSon  ( 2022-01-20 09:22:35 -0600 )edit

Yes I believe that's correct as far as I know, but I am new to nav2.

osilva gravatar image osilva  ( 2022-01-20 09:36:32 -0600 )edit

me too ^^ also

TomSon gravatar image TomSon  ( 2022-01-20 09:38:35 -0600 )edit

Seems to be the behavior tree the issue but it has no meaningful logs telling what it doesn't like

TomSon gravatar image TomSon  ( 2022-01-22 04:09:58 -0600 )edit