ROS2 nav2 map_server - Problems loading map with nav2_map_server
I am using ROS-Foxy with ubuntu 20.04 LTS. I was uses to ROS1, so I am new in the ROS2 world and I am working in the transition of my software for ROS2. Map_server is a simple, yet important package for me. So I got surprised with it's complexity to work in ROS2.
https://github.com/ros-planning/navig...
I followed the instructions in the documentation, so:
1- Created the "map_server_params.yaml" (I found out later that indentation is crucial in this file)
# map_server_params.yaml
map_server:
ros__parameters:
yaml_filename: "map.yaml"
2- the map.yaml is just like in ROS1 version:
image: map.pgm
resolution: 0.050000
origin: [-1.000000, -17.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
3 - run the node:
$ ros2 run nav2_map_server map_server _params:=map_server_params.yaml
4- As a result, the the map is not published:
[INFO] [1648467290.572912903] [map_server]:
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1648467290.572984105] [map_server]: Creating
5 - I managed to find that it is necessary to activate the "lifecycle" , which is not indicated in the original documentation! I
$ ros2 run nav2_util lifecycle_bringup map_server
6 - However, it is not working either:
$ ros2 run nav2_map_server map_server _params:=map_server_params.yaml
[INFO] [1648467520.824391783] [map_server]:
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1648467520.824462825] [map_server]: Creating
[INFO] [1648467538.673566146] [map_server]: Configuring
[ERROR] [1648467538.673770244] []: Caught exception in callback for transition 10
[ERROR] [1648467538.673809412] []: Original error: yaml_filename
[WARN] [1648467538.673851628] []: Error occurred while doing error handling.
[FATAL] [1648467538.673883971] [map_server]: Lifecycle node map_server does not have error state implemented
[WARN] [1648467538.674845275] [rcl_lifecycle]: No transition matching 3 found for current state unconfigured
[ERROR] [1648467538.674900522] []: Unable to start transition 3 from current state unconfigured: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350
7- I decided to create a launch file (which actually worked, partially solving the problem)
import os
import yaml
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from launch.substitutions import LaunchConfiguration
import launch_ros.actions
def generate_launch_description():
ld = LaunchDescription()
# Map server
map_server_config_path = os.path.join(
get_package_share_directory('agrob_path'),
'launch',
'map_server_params.yaml'
)
map_server_cmd = Node(
package='nav2_map_server',
executable='map_server',
output='screen',
parameters=[map_server_config_path])
ld.add_action(map_server_cmd)
return ld
8 - I had to add the data folder to cmake in order to use the launch File (I am mentioning this in case someone else gets stuck too)
install(DIRECTORY
config
launch
DESTINATION share/${PROJECT_NAME})
9 - After compiling, I managed to publish a map, yet I still need to run it with two commands:
$ ros2 launch agrob_path map_simple.launch.py
$ ros2 run nav2_util lifecycle_bringup map_server
10 - This works, but I wanted to publish a map with one simple command, or at least with one file! So, I tried to add the lifecycle_bringup to the map launch ...
