I am trying to run the navigation stack in the Jetson Orin Nano.
When I launch the navigation stack node, it seems to be running fine, till I give it a goal. When a goal is given, the robot moves towards the goal for some time and then stops. In the terminal for nav2, I am getting the following error :
[component_container_isolated-1] [INFO] [1733162247.980040834] [waypoint_follower]: Deactivating
[component_container_isolated-1] [INFO] [1733162247.980139113] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162247.983463441] [lifecycle_manager_navigation]: Have not received a heartbeat from waypoint_follower.
[component_container_isolated-1] [ERROR] [1733162247.983583745] [lifecycle_manager_navigation]: CRITICAL FAILURE: SERVER waypoint_follower IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
After this message the nodes seem to kill themselves and restart. A fix suggestion for this issue would be greatly appreciated.
Hardware setup:
The brain of the setup is a Jetson Orin Nano connected with a Intel Realsense D455 and S2 LIDAR.
Isaac ROS version 3.0.1
Jetpack Version : Jetpack 6.0
I am attaching the entire log below.
[component_container_isolated-1] [INFO] [1733162075.980514832] [map_server]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162075.982994787] [nav2_container]: Load Library: /opt/ros/humble/lib/libcontroller_server_core.so
[component_container_isolated-1] [INFO] [1733162075.991086486] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1733162075.991198480] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-1] [INFO] [1733162076.027264196] [controller_server]:
[component_container_isolated-1] controller_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162076.094004362] [controller_server]: Creating controller server
[component_container_isolated-1] [INFO] [1733162076.118335429] [local_costmap.local_costmap]:
[component_container_isolated-1] local_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162076.122183897] [local_costmap.local_costmap]: Creating Costmap
[component_container_isolated-1] [INFO] [1733162076.143663963] [nav2_container]: Load Library: /opt/ros/humble/lib/libamcl_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162076.148267677] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1733162076.148356386] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-1] [INFO] [1733162076.176456250] [amcl]:
[component_container_isolated-1] amcl lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162076.179633854] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162076.194427976] [nav2_container]: Load Library: /opt/ros/humble/lib/libsmoother_server_core.so
[component_container_isolated-1] [INFO] [1733162076.197364257] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1733162076.197452678] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-1] [INFO] [1733162076.217587044] [smoother_server]:
[component_container_isolated-1] smoother_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162076.238890909] [smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162076.241862861] [nav2_container]: Load Library: /opt/ros/humble/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-1] [INFO] [1733162076.250412853] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1733162076.250540885] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1733162076.290794457] [lifecycle_manager_localization]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162076.298509756] [nav2_container]: Load Library: /opt/ros/humble/lib/libplanner_server_core.so
[component_container_isolated-1] [INFO] [1733162076.304972710] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [INFO] [1733162076.306740004] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1733162076.307730515] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-1] [INFO] [1733162076.327773672] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1733162076.328038293] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-1] [INFO] [1733162076.328706625] [map_server]: Configuring
[component_container_isolated-1] [INFO] [map_io]: Loading yaml file: /nano_ws/isaac_ros-dev/install/isaac_ros_occupancy_grid_localizer/share/isaac_ros_occupancy_grid_localizer/maps/office_maps2/map.yaml
[component_container_isolated-1] [DEBUG] [map_io]: resolution: 0.05
[component_container_isolated-1] [DEBUG] [map_io]: origin[0]: -14
[component_container_isolated-1] [DEBUG] [map_io]: origin[1]: -9.23
[component_container_isolated-1] [DEBUG] [map_io]: origin[2]: 0
[component_container_isolated-1] [DEBUG] [map_io]: free_thresh: 0.25
[component_container_isolated-1] [DEBUG] [map_io]: occupied_thresh: 0.65
[component_container_isolated-1] [DEBUG] [map_io]: mode: trinary
[component_container_isolated-1] [DEBUG] [map_io]: negate: 0
[component_container_isolated-1] [INFO] [map_io]: Loading image_file: /nano_ws/isaac_ros-dev/install/isaac_ros_occupancy_grid_localizer/share/isaac_ros_occupancy_grid_localizer/maps/office_maps2/map.png
[component_container_isolated-1] [DEBUG] [map_io]: Read map /nano_ws/isaac_ros-dev/install/isaac_ros_occupancy_grid_localizer/share/isaac_ros_occupancy_grid_localizer/maps/office_maps2/map.png: 683 X 552 map @ 0.05 m/cell
[component_container_isolated-1] [INFO] [1733162076.451716927] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-1] [INFO] [1733162076.452070771] [amcl]: Configuring
[component_container_isolated-1] [INFO] [1733162076.452259598] [amcl]: initTransforms
[component_container_isolated-1] [INFO] [1733162077.148915305] [planner_server]:
[component_container_isolated-1] planner_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162077.157976175] [amcl]: initPubSub
[component_container_isolated-1] [INFO] [1733162077.169882589] [amcl]: Subscribed to map topic.
[component_container_isolated-1] [INFO] [1733162077.174572986] [planner_server]: Creating
[component_container_isolated-1] [INFO] [1733162077.692681641] [lifecycle_manager_localization]: Activating map_server
[component_container_isolated-1] [INFO] [1733162077.692943182] [map_server]: Activating
[component_container_isolated-1] [INFO] [1733162077.693381572] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162077.696820310] [amcl]: Received a 683 X 552 map @ 0.050 m/pix
[component_container_isolated-1] [INFO] [1733162078.751056253] [lifecycle_manager_localization]: Server map_server connected with bond.
[component_container_isolated-1] [INFO] [1733162078.751202034] [lifecycle_manager_localization]: Activating amcl
[component_container_isolated-1] [INFO] [1733162078.751623134] [amcl]: Activating
[component_container_isolated-1] [INFO] [1733162078.751699805] [amcl]: Creating bond (amcl) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162079.514258674] [amcl]: createLaserObject
[component_container_isolated-1] [WARN] [1733162079.985492062] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162080.246628859] [global_costmap.global_costmap]:
[component_container_isolated-1] global_costmap lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162080.253604820] [global_costmap.global_costmap]: Creating Costmap
[component_container_isolated-1] [INFO] [1733162080.351932845] [lifecycle_manager_localization]: Server amcl connected with bond.
[component_container_isolated-1] [INFO] [1733162080.352069499] [lifecycle_manager_localization]: Managed nodes are active
[component_container_isolated-1] [INFO] [1733162080.352105281] [lifecycle_manager_localization]: Creating bond timer...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162080.926426740] [nav2_container]: Load Library: /opt/ros/humble/lib/libbehavior_server_core.so
[component_container_isolated-1] [INFO] [1733162080.943281024] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1733162080.945595698] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-1] [INFO] [1733162081.891455584] [behavior_server]:
[component_container_isolated-1] behavior_server lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162081.918992017] [nav2_container]: Load Library: /opt/ros/humble/lib/libbt_navigator_core.so
[component_container_isolated-1] [INFO] [1733162081.923496615] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [INFO] [1733162081.923618236] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-1] [WARN] [1733162082.117112285] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162084.241607138] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162084.248050768] [bt_navigator]:
[component_container_isolated-1] bt_navigator lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162084.248222646] [bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162084.259170543] [nav2_container]: Load Library: /opt/ros/humble/lib/libwaypoint_follower_core.so
[component_container_isolated-1] [INFO] [1733162084.260956475] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [INFO] [1733162084.278816975] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-1] [WARN] [1733162087.252607917] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162087.737250632] [waypoint_follower]:
[component_container_isolated-1] waypoint_follower lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-1] [INFO] [1733162087.743694126] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162087.751967645] [nav2_container]: Load Library: /opt/ros/humble/lib/libvelocity_smoother_core.so
[component_container_isolated-1] [INFO] [1733162087.754152684] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [INFO] [1733162087.754251373] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-1] [WARN] [1733162089.717186438] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162090.666675539] [velocity_smoother]:
[component_container_isolated-1] velocity_smoother lifecycle node launched.
[component_container_isolated-1] Waiting on external lifecycle transitions to activate
[component_container_isolated-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162090.676274042] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1733162090.676411144] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-1] [INFO] [1733162091.887300587] [lifecycle_manager_navigation]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
[component_container_isolated-1] [INFO] [1733162091.898567669] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[component_container_isolated-1] [WARN] [1733162092.273367790] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162094.317363633] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162095.309240713] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-1] [INFO] [1733162095.309396149] [lifecycle_manager_navigation]: Configuring controller_server
[component_container_isolated-1] [INFO] [1733162095.309790612] [controller_server]: Configuring controller interface
[component_container_isolated-1] [INFO] [1733162095.310379089] [controller_server]: getting goal checker plugins..
[component_container_isolated-1] [INFO] [1733162095.310705295] [controller_server]: Controller frequency set to 5.0000Hz
[component_container_isolated-1] [INFO] [1733162095.310983766] [local_costmap.local_costmap]: Configuring
[component_container_isolated-1] [INFO] [1733162096.216506633] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-1] [INFO] [1733162096.227173669] [local_costmap.local_costmap]: Subscribed to Topics: scan
[component_container_isolated-1] [WARN] [1733162096.389066401] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162097.114059433] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[component_container_isolated-1] [INFO] [1733162097.114174591] [local_costmap.local_costmap]: Using plugin "nvblox_layer"
[component_container_isolated-1] [INFO] [1733162098.348276719] [local_costmap.local_costmap]: Name: nvblox_layer Topic name: /nvblox_node/static_map_slice Convert to binary costmap: 1 Max obstacle distance: 1
[component_container_isolated-1] [WARN] [1733162098.403999741] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162099.000057565] [local_costmap.local_costmap]: Initialized plugin "nvblox_layer"
[component_container_isolated-1] [INFO] [1733162099.000198045] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[component_container_isolated-1] [INFO] [1733162099.003861601] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[component_container_isolated-1] [WARN] [1733162100.534241212] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162101.995279716] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[component_container_isolated-1] [INFO] [1733162102.000566215] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[component_container_isolated-1] [INFO] [1733162102.003392440] [controller_server]: Controller Server has general_goal_checker goal checkers available.
[component_container_isolated-1] [INFO] [1733162102.011869603] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[component_container_isolated-1] [INFO] [1733162102.017107574] [controller_server]: Setting transform_tolerance to 0.200000
[component_container_isolated-1] [WARN] [1733162102.587640669] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162103.891386826] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[component_container_isolated-1] [INFO] [1733162103.895760662] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.896899933] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[component_container_isolated-1] [INFO] [1733162103.900680011] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.901650890] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[component_container_isolated-1] [INFO] [1733162103.903201248] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.905136027] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[component_container_isolated-1] [INFO] [1733162103.908318090] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.909316660] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[component_container_isolated-1] [INFO] [1733162103.911132828] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.911665119] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[component_container_isolated-1] [INFO] [1733162103.913622275] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.914639669] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[component_container_isolated-1] [INFO] [1733162103.916266668] [controller_server]: Critic plugin initialized
[component_container_isolated-1] [INFO] [1733162103.916360789] [controller_server]: Controller Server has FollowPath controllers available.
[component_container_isolated-1] [WARN] [1733162104.833746982] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162104.955560661] [lifecycle_manager_navigation]: Configuring smoother_server
[component_container_isolated-1] [INFO] [1733162104.956000368] [smoother_server]: Configuring smoother server
[component_container_isolated-1] [INFO] [1733162106.627661481] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[component_container_isolated-1] [INFO] [1733162106.634639240] [smoother_server]: Smoother Server has simple_smoother smoothers available.
[component_container_isolated-1] [WARN] [1733162107.017092963] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162107.496341445] [lifecycle_manager_navigation]: Configuring planner_server
[component_container_isolated-1] [INFO] [1733162107.496899692] [planner_server]: Configuring
[component_container_isolated-1] [INFO] [1733162107.497127691] [global_costmap.global_costmap]: Configuring
[component_container_isolated-1] [INFO] [1733162108.200196580] [global_costmap.global_costmap]: Using plugin "static_map_layer"
[component_container_isolated-1] [INFO] [1733162108.694145269] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[component_container_isolated-1] [INFO] [1733162108.697078543] [global_costmap.global_costmap]: Initialized plugin "static_map_layer"
[component_container_isolated-1] [INFO] [1733162108.697180633] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-1] [INFO] [1733162108.698128832] [global_costmap.global_costmap]: Subscribed to Topics: scan
[component_container_isolated-1] [INFO] [1733162108.713331807] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[component_container_isolated-1] [INFO] [1733162108.713444621] [global_costmap.global_costmap]: Using plugin "nvblox_layer"
[component_container_isolated-1] [INFO] [1733162108.799684415] [global_costmap.global_costmap]: Name: nvblox_layer Topic name: /nvblox_node/static_map_slice Convert to binary costmap: 1 Max obstacle distance: 1
[component_container_isolated-1] [INFO] [1733162108.822471541] [global_costmap.global_costmap]: Initialized plugin "nvblox_layer"
[component_container_isolated-1] [INFO] [1733162108.822767279] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[component_container_isolated-1] [INFO] [1733162108.826588760] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[component_container_isolated-1] [WARN] [1733162109.084485150] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162111.017861083] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 683 X 552 at 0.050000 m/pix
[component_container_isolated-1] [INFO] [1733162111.018493693] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[component_container_isolated-1] [INFO] [1733162111.018583009] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[component_container_isolated-1] [INFO] [1733162111.022479380] [planner_server]: Planner Server has GridBased planners available.
[component_container_isolated-1] [WARN] [1733162111.182452259] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162113.973268347] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162114.616642510] [lifecycle_manager_navigation]: Configuring behavior_server
[component_container_isolated-1] [INFO] [1733162114.617267178] [behavior_server]: Configuring
[component_container_isolated-1] [INFO] [1733162115.877097607] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[component_container_isolated-1] [INFO] [1733162115.880476825] [behavior_server]: Configuring spin
[component_container_isolated-1] [WARN] [1733162116.137551835] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162117.033841381] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[component_container_isolated-1] [INFO] [1733162117.039033098] [behavior_server]: Configuring backup
[component_container_isolated-1] [INFO] [1733162118.044292600] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[component_container_isolated-1] [INFO] [1733162118.047214764] [behavior_server]: Configuring drive_on_heading
[component_container_isolated-1] [WARN] [1733162118.275506394] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162121.449975729] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162121.450309847] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[component_container_isolated-1] [INFO] [1733162121.457445531] [behavior_server]: Configuring wait
[component_container_isolated-1] [INFO] [1733162123.004405767] [lifecycle_manager_navigation]: Configuring bt_navigator
[component_container_isolated-1] [INFO] [1733162123.004960997] [bt_navigator]: Configuring
[component_container_isolated-1] [WARN] [1733162123.573626199] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162126.056712098] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162128.624187601] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162131.145677183] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [WARN] [1733162133.357191861] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162134.040481346] [lifecycle_manager_navigation]: Configuring waypoint_follower
[component_container_isolated-1] [INFO] [1733162134.041116542] [waypoint_follower]: Configuring
[component_container_isolated-1] [INFO] [1733162135.529661730] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[component_container_isolated-1] [INFO] [1733162135.533285955] [lifecycle_manager_navigation]: Configuring velocity_smoother
[component_container_isolated-1] [INFO] [1733162135.533776838] [velocity_smoother]: Configuring velocity smoother
[component_container_isolated-1] [INFO] [1733162135.545518881] [lifecycle_manager_navigation]: Activating controller_server
[component_container_isolated-1] [INFO] [1733162135.546074686] [controller_server]: Activating
[component_container_isolated-1] [INFO] [1733162135.546207186] [local_costmap.local_costmap]: Activating
[component_container_isolated-1] [INFO] [1733162135.546263337] [local_costmap.local_costmap]: Checking transform
[component_container_isolated-1] [INFO] [1733162135.546575877] [local_costmap.local_costmap]: start
[component_container_isolated-1] [WARN] [1733162135.861314443] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162136.566660227] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162136.939353999] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[component_container_isolated-1] [INFO] [1733162136.939519409] [lifecycle_manager_navigation]: Activating smoother_server
[component_container_isolated-1] [INFO] [1733162136.940152077] [smoother_server]: Activating
[component_container_isolated-1] [INFO] [1733162136.940415349] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162137.796110534] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[component_container_isolated-1] [INFO] [1733162137.796272103] [lifecycle_manager_navigation]: Activating planner_server
[component_container_isolated-1] [INFO] [1733162137.796809980] [planner_server]: Activating
[component_container_isolated-1] [INFO] [1733162137.796934830] [global_costmap.global_costmap]: Activating
[component_container_isolated-1] [INFO] [1733162137.796967995] [global_costmap.global_costmap]: Checking transform
[component_container_isolated-1] [INFO] [1733162137.797005130] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162138.229043673] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162138.297096568] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162138.533461199] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162138.229 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162138.797073296] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162139.297104115] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162139.797091326] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162140.297085666] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162140.487662748] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162140.797085538] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162141.297103490] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162141.797092368] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162142.297081848] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162142.562541720] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162142.797083168] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162143.297097159] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162143.797114314] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162144.297102493] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162144.797093357] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162144.972871617] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162145.297092252] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162145.797098283] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162146.297088046] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162146.797103418] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162147.057400709] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162147.297098649] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162147.797111229] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162148.297115291] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162148.797106609] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162149.077215346] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162149.297105192] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162149.797098843] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162150.297098925] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162150.797092220] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162151.197678551] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162151.297081607] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162151.797077139] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162152.297095238] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162152.797104596] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162153.255528608] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162153.297100155] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162153.797096193] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162154.297085764] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162154.797103120] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162155.297109911] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162155.676953276] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162155.797098486] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162155.981557551] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162155.677 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162156.297092406] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162156.797090422] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162157.297218698] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162157.747360789] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162157.797079186] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162158.297086549] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162158.797083794] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162159.297085489] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162159.797099219] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162159.873260307] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162160.176403326] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162159.873 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162160.297098832] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162160.797093450] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162161.297087300] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162161.797098563] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162162.189060302] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162162.297092060] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162162.797099161] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162163.297137891] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162163.797092170] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162164.207704321] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162163.905 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162164.297091588] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162164.797093566] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162165.297098585] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162165.776773515] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162165.797092623] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162166.297101515] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162166.656065670] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162166.353 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162166.797101827] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162167.297103772] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162167.797101939] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162168.048920417] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162168.297104812] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162168.797095904] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162169.297091861] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162169.797082056] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162170.244603996] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162170.297099142] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162170.797099133] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162171.297109656] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162171.797105133] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162172.297118152] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162172.451534405] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162172.797081968] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162173.297080390] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162173.797104614] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162174.297095960] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162174.468778685] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162174.797097839] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162175.297086112] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162175.797093945] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162176.297095792] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162176.797078655] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162177.006596497] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162177.297092986] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162177.797093616] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162178.297090372] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162178.797079478] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162179.125469732] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162179.297106390] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162179.797096872] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162180.297079414] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162180.797078187] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162181.133990801] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162181.297093959] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162181.797092187] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162182.297105302] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162182.797107628] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162183.158352623] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162183.297092603] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162183.797089039] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162184.297098408] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162184.797094748] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [WARN] [1733162185.230197776] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162185.297104629] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162185.797082433] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162186.297091290] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162186.588152867] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162186.285 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162186.797093744] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162186.857506882] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162186.554 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1733162187.249415059] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[component_container_isolated-1] [INFO] [1733162187.297076702] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162187.797096091] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162188.297101298] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162188.437907155] [amcl]: initialPoseReceived
[component_container_isolated-1] [WARN] [1733162188.438351043] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1733162188.438131 but the latest data is at time 1733162188.317693, when looking up transform from frame [base_footprint] to frame [odom])
[component_container_isolated-1] [INFO] [1733162188.438430563] [amcl]: Setting pose (1733162188.438427): -4.500 1.270 -0.331
[component_container_isolated-1] [INFO] [1733162188.797110763] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1733162189.297124805] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1733162189.275015 but the earliest data is at time 1733162191.417172, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1] [INFO] [1733162189.797137375] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1733162189.775929 but the earliest data is at time 1733162191.417172, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1] [INFO] [1733162190.297153979] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1733162190.232316 but the earliest data is at time 1733162191.417172, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1] [INFO] [1733162190.798097895] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1733162190.755595 but the earliest data is at time 1733162191.417172, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1] [INFO] [1733162191.297132573] [global_costmap.global_costmap]: Timed out waiting for transform from base_footprint to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1733162191.278903 but the earliest data is at time 1733162191.417172, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1] [INFO] [1733162191.797704405] [global_costmap.global_costmap]: start
[component_container_isolated-1] [INFO] [1733162191.849193808] [planner_server]: Activating plugin GridBased of type NavfnPlanner
[component_container_isolated-1] [INFO] [1733162193.336877621] [planner_server]: Creating bond (planner_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162194.252002204] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162193.949 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162194.252473591] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162193.949 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162194.323968857] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162193.952 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162194.323968953] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162193.952 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162195.207138610] [lifecycle_manager_navigation]: Server planner_server connected with bond.
[component_container_isolated-1] [INFO] [1733162195.207287309] [lifecycle_manager_navigation]: Activating behavior_server
[component_container_isolated-1] [INFO] [1733162195.207821793] [behavior_server]: Activating
[component_container_isolated-1] [INFO] [1733162195.207938063] [behavior_server]: Activating spin
[component_container_isolated-1] [INFO] [1733162195.208008651] [behavior_server]: Activating backup
[component_container_isolated-1] [INFO] [1733162195.208055070] [behavior_server]: Activating drive_on_heading
[component_container_isolated-1] [INFO] [1733162195.208092845] [behavior_server]: Activating wait
[component_container_isolated-1] [INFO] [1733162195.208138046] [behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162196.803021317] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[component_container_isolated-1] [INFO] [1733162196.803464821] [lifecycle_manager_navigation]: Activating bt_navigator
[component_container_isolated-1] [INFO] [1733162196.805289578] [bt_navigator]: Activating
[component_container_isolated-1] [INFO] [1733162205.828258562] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162205.525 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162205.828286413] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162205.525 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162211.883406564] [bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[component_container_isolated-1] [ERROR] [1733162212.314078227] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.294931 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [INFO] [1733162212.314241972] [bt_navigator]: Begin navigating from current location (0.00, 0.00) to (1.80, -1.11)
[component_container_isolated-1] [ERROR] [1733162212.416991503] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.395110 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162212.417341498] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162212.519939129] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.506423 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162212.520168852] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162212.622177545] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162212.622410053] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162212.723967847] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162212.724334489] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162212.826253610] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162212.826472257] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162212.928278982] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162212.928511394] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.030125370] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.030374717] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.132250269] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.132504130] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.234203036] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.234448957] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.336445998] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.336692271] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.438672601] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.438924093] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1733162213.457123319] [lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[component_container_isolated-1] [INFO] [1733162213.457261614] [lifecycle_manager_navigation]: Activating waypoint_follower
[component_container_isolated-1] [INFO] [1733162213.457776410] [waypoint_follower]: Activating
[component_container_isolated-1] [INFO] [1733162213.457910959] [waypoint_follower]: Creating bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-1] [WARN] [1733162213.461500384] [planner_server]: Planner loop missed its desired rate of 1.0000 Hz. Current loop rate is 0.8724 Hz
[component_container_isolated-1] [ERROR] [1733162213.540643359] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.540867736] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.642510588] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162212.550947 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.642894804] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1733162213.646756177] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1733162213.648383799] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general_goal_checker . This warning will appear once.
[component_container_isolated-1] [ERROR] [1733162213.748115012] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162213.730847 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.748394227] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.850603159] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162213.831027 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.850861342] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162213.953080006] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162213.931207 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162213.953364951] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [ERROR] [1733162214.055975995] [transformPoseInTargetFrame]: Extrapolation Error looking up target frame: Lookup would require extrapolation into the past. Requested time 1733162214.031386 but the earliest data is at time 1733162214.097170, when looking up transform from frame [base_footprint] to frame [map]
[component_container_isolated-1]
[component_container_isolated-1] [WARN] [1733162214.056255530] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1733162214.118282429] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1733162214.186566596] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [WARN] [1733162214.914341051] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162214.914503036] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162215.434430008] [lifecycle_manager_navigation]: Server waypoint_follower connected with bond.
[component_container_isolated-1] [INFO] [1733162215.434565102] [lifecycle_manager_navigation]: Activating velocity_smoother
[component_container_isolated-1] [INFO] [1733162215.434991671] [velocity_smoother]: Activating
[component_container_isolated-1] [INFO] [1733162215.435160346] [velocity_smoother]: Creating bond (velocity_smoother) to lifecycle manager.
[component_container_isolated-1] [WARN] [1733162215.809432337] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162215.809589327] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162216.405120973] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162216.682283560] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162216.378 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162216.682283656] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162216.378 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1733162216.958008744] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162216.958177675] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162216.970601968] [lifecycle_manager_navigation]: Server velocity_smoother connected with bond.
[component_container_isolated-1] [INFO] [1733162216.970758991] [lifecycle_manager_navigation]: Managed nodes are active
[component_container_isolated-1] [INFO] [1733162216.970805057] [lifecycle_manager_navigation]: Creating bond timer...
[component_container_isolated-1] [WARN] [1733162217.426198728] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162217.958127457] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162219.301765695] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162219.301919228] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162220.061129492] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162219.757 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162220.062507767] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162219.757 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1733162220.144425219] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162220.144581281] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162221.009275474] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162222.089250821] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162222.944511220] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162223.944513182] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162225.144606844] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162226.144542540] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162227.144535251] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162228.144524473] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162229.144521377] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1733162229.544866440] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1733162229.545088544] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1733162229.558694938] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1733162229.562548756] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1733162230.209042076] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162231.209059244] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162232.209064664] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162233.209167115] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162234.409050293] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162235.409065189] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162236.409047399] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162237.409044240] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162238.136903112] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162237.833 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162238.136942840] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162237.833 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162238.190669676] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser' at time 1733162237.837 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1733162238.190830795] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser' at time 1733162237.837 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [WARN] [1733162238.233372230] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162238.449803696] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162239.531571339] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1733162239.964578489] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1733162239.964787532] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1733162239.979283816] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1733162239.981432861] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[component_container_isolated-1] [WARN] [1733162241.191588502] [planner_server]: Planner loop missed its desired rate of 1.0000 Hz. Current loop rate is 0.8279 Hz
[component_container_isolated-1] [INFO] [1733162241.211553772] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1733162242.725493898] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162242.725674321] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162243.436085243] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162244.095526295] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162245.236196652] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162246.236196533] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162246.640461264] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162247.236192541] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162247.490385112] [controller_server]: Control loop missed its desired rate of 5.0000Hz
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_isolated-1] [INFO] [1733162247.979285270] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-1] [INFO] [1733162247.979724997] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)
[component_container_isolated-1] [INFO] [1733162247.980040834] [waypoint_follower]: Deactivating
[component_container_isolated-1] [INFO] [1733162247.980139113] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162247.983463441] [lifecycle_manager_navigation]: Have not received a heartbeat from waypoint_follower.
[component_container_isolated-1] [ERROR] [1733162247.983583745] [lifecycle_manager_navigation]: CRITICAL FAILURE: SERVER waypoint_follower IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes.
[component_container_isolated-1] [INFO] [1733162247.983658879] [lifecycle_manager_navigation]: Terminating bond timer...
[component_container_isolated-1] [INFO] [1733162247.983696718] [lifecycle_manager_navigation]: Resetting managed nodes...
[component_container_isolated-1] [INFO] [1733162247.983724953] [lifecycle_manager_navigation]: Deactivating velocity_smoother
[component_container_isolated-1] [INFO] [1733162247.984328745] [velocity_smoother]: Deactivating
[component_container_isolated-1] [INFO] [1733162247.984756403] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162247.991837390] [waypoint_follower]: Cleaning up
[component_container_isolated-1] [INFO] [1733162248.698172325] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162248.698303961] [lifecycle_manager_navigation]: Running Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation)
[component_container_isolated-1] [WARN] [1733162248.961241284] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162248.961352176] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1733162248.965141392] [lifecycle_manager_navigation]: Deactivating waypoint_follower
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[component_container_isolated-1] [INFO] [1733162249.489549920] [rclcpp]: signal_handler(signum=2)
c^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[component_container_isolated-1] [INFO] [1733162249.904048506] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[component_container_isolated-1] [INFO] [1733162250.105439409] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-1] [WARN] [1733162250.109202567] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162250.111782184] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162250.557262158] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [INFO] [1733162250.557397860] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1733162250.857382244] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured
[component_container_isolated-1] [ERROR] [1733162250.857488046] [waypoint_follower]: Unable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-1] [ERROR] [1733162250.858282025] [lifecycle_manager_navigation]: Failed to change state for node: waypoint_follower
[component_container_isolated-1] [INFO] [1733162250.858362345] [lifecycle_manager_navigation]: Deactivating bt_navigator
[component_container_isolated-1] [INFO] [1733162250.858794805] [bt_navigator]: Deactivating
[component_container_isolated-1] [WARN] [1733162250.858856813] [bt_navigator]: [navigate_to_pose] [ActionServer] Requested to deactivate server but goal is still executing. Should check if action server is running before deactivating.
[component_container_isolated-1] [WARN] [1733162250.865990046] [controller_server]: Control loop missed its desired rate of 5.0000Hz
[component_container_isolated-1] [ERROR] [1733162250.889161421] [bt_navigator_navigate_to_pose_rclcpp_node]: Failed to get result for follow_path in node halt!
[component_container_isolated-1] [INFO] [1733162250.889391369] [bt_navigator]: Goal canceled
[component_container_isolated-1] [WARN] [1733162250.889439132] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[component_container_isolated-1] [WARN] [1733162250.889549031] [bt_navigator]: [navigate_to_pose] [ActionServer] Stopping the thread per request.
[component_container_isolated-1] [INFO] [1733162250.889870215] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162250.909313486] [controller_server]: Goal was canceled. Stopping the robot.
[component_container_isolated-1] [WARN] [1733162250.909490901] [controller_server]: [follow_path] [ActionServer] Client requested to cancel the goal. Cancelling.
[component_container_isolated-1] [INFO] [1733162251.308628540] [lifecycle_manager_navigation]: Deactivating behavior_server
[component_container_isolated-1] [INFO] [1733162251.309032957] [behavior_server]: Deactivating
[component_container_isolated-1] [INFO] [1733162251.309128899] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162252.011217540] [lifecycle_manager_navigation]: Deactivating planner_server
[component_container_isolated-1] [INFO] [1733162252.011566734] [planner_server]: Deactivating
[component_container_isolated-1] [INFO] [1733162252.011688511] [global_costmap.global_costmap]: Deactivating
[component_container_isolated-1] [INFO] [1733162252.300635680] [planner_server]: Deactivating plugin GridBased of type NavfnPlanner
[component_container_isolated-1] [INFO] [1733162252.300787292] [planner_server]: Destroying bond (planner_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162252.588668151] [lifecycle_manager_navigation]: Deactivating smoother_server
[component_container_isolated-1] [INFO] [1733162252.589061939] [smoother_server]: Deactivating
[component_container_isolated-1] [INFO] [1733162252.589142803] [smoother_server]: Destroying bond (smoother_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162253.192245776] [lifecycle_manager_navigation]: Deactivating controller_server
[component_container_isolated-1] [INFO] [1733162253.192784998] [controller_server]: Deactivating
[component_container_isolated-1] [INFO] [1733162253.192962188] [local_costmap.local_costmap]: Deactivating
[component_container_isolated-1] [INFO] [1733162253.356712066] [controller_server]: Destroying bond (controller_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1733162254.065199600] [lifecycle_manager_navigation]: Cleaning up velocity_smoother
[component_container_isolated-1] [INFO] [1733162254.066172786] [velocity_smoother]: Cleaning up
[component_container_isolated-1] [INFO] [1733162254.108318832] [lifecycle_manager_navigation]: Cleaning up waypoint_follower
[component_container_isolated-1] [WARN] [1733162254.108919422] [rcl_lifecycle]: No transition matching 2 found for current state unconfigured
[component_container_isolated-1] [ERROR] [1733162254.108973363] [waypoint_follower]: Unable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355
[component_container_isolated-1] [INFO] [1733162254.110708836] [lifecycle_manager_navigation]: Cleaning up bt_navigator
[component_container_isolated-1] [INFO] [1733162254.111106690] [bt_navigator]: Cleaning up
Let me know if any further information is needed.
Thanking you in advance.