How to use nav2 keepoutfilter and speedlimit_filter together
OS:Ubuntu20.04
Dist:ROS2 galactic
arch:x86-64
I want to use nav2 keepout filter and speed limit filter.
I have run two launch files for that, but can't get them to run.
What should I do?
The method of changing node_name failed to load yaml (due to lifecycle?). I tried to change node_name, but it failed.
So we tried to distinguish them by namespace, but failed.
main launch
speed filter launch
keepout launch
[INFO] [launch]: All log files can be found below /home/fig/.ros/log/2022-07-11-11-10-39-298959-MOUSE-27799 [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [lifecycle_manager-4]: there are now at least 2 nodes with the name /spd/lifecycle_manager_costmap_filters created within this launch context [WARNING] [map_server-5]: there are now at least 2 nodes with the name /spd/filter_mask_server created within this launch context [WARNING] [costmap_filter_info_server-6]: there are now at least 2 nodes with the name /spd/costmap_filter_info_server created within this launch context [INFO] [lifecycle_manager-1]: process started with pid [27801] [INFO] [map_server-2]: process started with pid [27803] [INFO] [costmap_filter_info_server-3]: process started with pid [27805] [INFO] [lifecycle_manager-4]: process started with pid [27807] [INFO] [map_server-5]: process started with pid [27809] [INFO] [costmap_filter_info_server-6]: process started with pid [27811] [costmap_filter_info_server-3] [INFO] [1657505439.704125555] [costmap_filter_info_server]: This is costmap filter info publisher [costmap_filter_info_server-6] [INFO] [1657505439.710063563] [costmap_filter_info_server]: This is costmap filter info publisher [lifecycle_manager-1] [INFO] [1657505439.713526671] [spd.lifecycle_manager_costmap_filters]: Creating [lifecycle_manager-1] [INFO] [1657505439.716429123] [spd.lifecycle_manager_costmap_filters]: Creating and initializing lifecycle service clients [lifecycle_manager-4] [INFO] [1657505439.719406733] [spd.lifecycle_manager_costmap_filters]: Creating [lifecycle_manager-1] [INFO] [1657505439.719352112] [spd.lifecycle_manager_costmap_filters]: Starting managed nodes bringup... [lifecycle_manager-1] [INFO] [1657505439.721555257] [spd.lifecycle_manager_costmap_filters]: Configuring filter_mask_server [lifecycle_manager-4] [INFO] [1657505439.723243509] [spd.lifecycle_manager_costmap_filters]: Creating and initializing lifecycle service clients [lifecycle_manager-4] [INFO] [1657505439.726027910] [spd.lifecycle_manager_costmap_filters]: Starting managed nodes bringup... [lifecycle_manager-4] [INFO] [1657505439.726121934] [spd.lifecycle_manager_costmap_filters]: Configuring filter_mask_server [costmap_filter_info_server-3] [INFO] [1657505439.733933507] [spd.costmap_filter_info_server]: [costmap_filter_info_server-3] costmap_filter_info_server lifecycle node launched. [costmap_filter_info_server-3] Waiting on external lifecycle transitions to activate [costmap_filter_info_server-3] See https://design.ros2.org/articles/node... for more information. [costmap_filter_info_server-6] [INFO] [1657505439.735448959] [spd.costmap_filter_info_server]: [costmap_filter_info_server-6] costmap_filter_info_server lifecycle node launched. [costmap_filter_info_server-6] Waiting on external lifecycle transitions to activate [costmap_filter_info_server-6] See https://design.ros2.org/articles/node... for more information. [map_server-5] [INFO] [1657505439.741682290] [spd.filter_mask_server]: [map_server-5] filter_mask_server lifecycle node launched. [map_server-5] Waiting on external lifecycle transitions to activate [map_server-5] See https://design.ros2.org/articles/node... for more information. [map_server-5] [INFO] [1657505439.741823221] [spd.filter_mask_server]: Creating [map_server-2] [INFO] [1657505439.747223899] [spd.filter_mask_server]: [map_server-2] filter_mask_server lifecycle node launched. [map_server-2] Waiting on external lifecycle transitions to activate [map_server-2] See https://design.ros2.org/articles/node... for more information. [map_server-2] [INFO] [1657505439.747427392] [spd.filter_mask_server]: Creating [map_server-5] [INFO] [1657505439.755656634] [spd.filter_mask_server]: Configuring [map_server-5] [INFO] [map_io]: Loading yaml file: /home/fig/workspace/nav2_test/src/navigation2_tutorials/nav2_costmap_filters_demo/maps/speed_mask.yaml [map_server-5] [DEBUG] [map_io]: resolution: 0.05 [map_server-5] [DEBUG] [map_io]: origin[0]: -10 [map_server-5] [DEBUG] [map_io]: origin[1]: -10 [map_server-5] [DEBUG] [map_io]: origin[2]: 0 [map_server-5] [DEBUG] [map_io]: free_thresh: 0 [map_server-5] [DEBUG] [map_io]: occupied_thresh: 1 [map_server-5] [DEBUG] [map_io]: mode: scale [map_server-5] [DEBUG] [map_io]: negate: 0 [map_server-5] [INFO] [map_io]: Loading image_file: /home ...
