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'basic_sim' not found, rclcpp/rclcpp.hpp: No such file or directory #50

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Qwxmwdncjwncc opened this issue Nov 28, 2024 · 2 comments
Open

'basic_sim' not found, rclcpp/rclcpp.hpp: No such file or directory #50

Qwxmwdncjwncc opened this issue Nov 28, 2024 · 2 comments

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@Qwxmwdncjwncc
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I apologize for disturbing you, but I encountered a problem while running main_simbot_launch.py.

(one) (base) wyx@WUYX:~/test_ws$ ros2 launch test_env main_simbot_launch.py
[INFO] [launch]: All log files can be found below /home/wyx/.ros/log/2024-11-28-16-25-13-420142-WUYX-15874
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'basic_sim' not found, searching: ['/home/wyx/test_ws/install/test_env', '/home/wyx/test_ws/install/simulated_tdlas', '/home/wyx/test_ws/install/simulated_gas_sensor', '/home/wyx/test_ws/install/simulated_anemometer', '/home/wyx/test_ws/install/olfaction_msgs', '/home/wyx/test_ws/install/gaden_preprocessing', '/home/wyx/test_ws/install/gaden_player', '/home/wyx/test_ws/install/gaden_filament_simulator', '/home/wyx/test_ws/install/gaden_environment', '/home/wyx/test_ws/install/gaden_decompress', '/home/wyx/test_ws/install/gaden_common', '/opt/ros/humble']"

When I chose to use Coppelia, I installed version 4.5.1 and executed export COPPELIASIM_ROOT_DIR='Full_path_to_Coppelia_Folder',then clone the utils repo，add a COLCON_IGNORE file in

Odometry/SRF
Mapping/Sigma_FP
HRI/people-detection, but I encountered an issue during compilation（colcon build）:
--- stderr: mqtt_bridge
/home/wyx/test_ws/src/utils/Communications/mqtt_bridge/src/mqtt_bridge_node.cpp:5:10: fatal error: rclcpp/rclcpp.hpp: No such file or directory
5 | #include <rclcpp/rclcpp.hpp>
| ^~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/mqtt_bridge_node.dir/build.make:76: CMakeFiles/mqtt_bridge_node.dir/src/mqtt_bridge_node.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/mqtt_bridge_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< mqtt_bridge [1.33s, exited with code 2]

then i add fellow sentences

set(dependencies
rclcpp
)
in file /home/wyx/test_ws/src/utils/Communications/mqtt_bridge/CMakeLists.txt.

--- stderr: coppelia_remote_api
CMake Error at CMakeLists.txt:10 (add_subdirectory):
add_subdirectory given source "/programming/zmqRemoteApi/clients/cpp" which
is not an existing directory.

CMake Warning at /opt/ros/humble/share/ament_cmake_export_include_directories/cmake/ament_export_include_directories.cmake:44 (message):
ament_export_include_directories() package 'coppelia_remote_api' exports
the include directory '/programming/zmqRemoteApi/clients/cpp' which doesn't
exist
Call Stack (most recent call first):
CMakeLists.txt:12 (ament_export_include_directories)

CMake Warning at /opt/ros/humble/share/ament_cmake_export_include_directories/cmake/ament_export_include_directories.cmake:44 (message):
ament_export_include_directories() package 'coppelia_remote_api' exports
the include directory
'/home/wyx/test_ws/build/coppelia_remote_api/zmqRemoteApi/jsoncons/include'
which doesn't exist
Call Stack (most recent call first):
CMakeLists.txt:12 (ament_export_include_directories)

CMake Error at CMakeLists.txt:20 (install):
install TARGETS given target "RemoteAPIClient" which does not exist.

Failed <<< coppelia_remote_api [18.5s, exited with code 1]

or sometimes Error message:

--- stderr: aruco
/usr/bin/ld: /lib/x86_64-linux-gnu/libnetcdf.so.19: undefined reference to curl_global_cleanup@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_getinfo@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_cleanup@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_perform@CURL_OPENSSL_4'
/usr/bin/ld: /lib/x86_64-linux-gnu/libnetcdf.so.19: undefined reference to curl_global_init@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_perform@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_init@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFReadRGBAStripExt@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_init@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFReadFromUserBuffer@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_add_handle@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_remove_handle@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileOffsetWithErr@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_addpart@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_version_info@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_name@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileOffset@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileByteCount@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_filename@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_info_read@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_slist_free_all@CURL_OPENSSL_4' /usr/bin/ld: /lib/x86_64-linux-gnu/libnetcdf.so.19: undefined reference to curl_easy_strerror@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_setopt@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFDeferStrileArrayWriting@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileByteCountWithErr@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFForceStrileArrayWriting@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFReadRGBATileExt@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_slist_append@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_poll@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_version@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_setopt@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_data@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_free@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_cleanup@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_init@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_data_cb@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_wait@CURL_OPENSSL_4' collect2: error: ld returned 1 exit status gmake[2]: *** [CMakeFiles/createMarker.dir/build.make:205: createMarker] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/createMarker.dir/all] Error 2 gmake[1]: *** Waiting for unfinished jobs.... /usr/bin/ld: /lib/x86_64-linux-gnu/libnetcdf.so.19: undefined reference to curl_global_cleanup@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_getinfo@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_cleanup@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_perform@CURL_OPENSSL_4' /usr/bin/ld: /lib/x86_64-linux-gnu/libnetcdf.so.19: undefined reference to curl_global_init@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_perform@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_init@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFReadRGBAStripExt@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_init@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFReadFromUserBuffer@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_add_handle@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_remove_handle@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileOffsetWithErr@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_addpart@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_version_info@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_name@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileOffset@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileByteCount@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_filename@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_info_read@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_slist_free_all@CURL_OPENSSL_4'
/usr/bin/ld: /lib/x86_64-linux-gnu/libnetcdf.so.19: undefined reference to curl_easy_strerror@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_setopt@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFDeferStrileArrayWriting@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFGetStrileByteCountWithErr@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFForceStrileArrayWriting@LIBTIFF_4.0' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to TIFFReadRGBATileExt@LIBTIFF_4.0'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_slist_append@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_poll@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_version@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_setopt@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_data@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_free@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_easy_cleanup@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_init@CURL_OPENSSL_4'
/usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_mime_data_cb@CURL_OPENSSL_4' /usr/bin/ld: /lib/libgdal.so.30: undefined reference to curl_multi_wait@CURL_OPENSSL_4'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/findAruco.dir/build.make:270: findAruco] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/findAruco.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< aruco [4.28s, exited with code 2]

Could you please tell me how to resolve this? Thank you.
@PepeOjeda
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Collaborator

Hello. You can find BasicSim here.

If you want to use coppelia instead, you will need to correctly specify the installation path in the COPPELIASIM_ROOT_DIR enviroment variable. The compilation errors you are getting can be avoided by adding a COLCON_IGNORE file to each of the sub-directories in the utils repo (except for the coppelia directory, of course).

@Qwxmwdncjwncc
Copy link
Author

Hello. You can find BasicSim here.

If you want to use coppelia instead, you will need to correctly specify the installation path in the COPPELIASIM_ROOT_DIR enviroment variable. The compilation errors you are getting can be avoided by adding a COLCON_IGNORE file to each of the sub-directories in the utils repo (except for the coppelia directory, of course).

Thank you for your help. I have successfully run the main_simbot file, but there are still a few minor issues. I hope to get your answers. Thank you!
image
image
image

(one) (base) wyx@WUYX:~/test_ws$ ros2 launch test_env main_simbot_launch.py
[INFO] [launch]: All log files can be found below /home/wyx/.ros/log/2024-12-03-16-22-25-182116-WUYX-8334
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [8335]
[INFO] [xterm-2]: process started with pid [8337]
[INFO] [environment-3]: process started with pid [8339]
[INFO] [player-4]: process started with pid [8341]
[INFO] [xterm-5]: process started with pid [8343]
[INFO] [simulated_anemometer-6]: process started with pid [8345]
[INFO] [static_transform_publisher-7]: process started with pid [8347]
[INFO] [simulated_gas_sensor-8]: process started with pid [8350]
[INFO] [static_transform_publisher-9]: process started with pid [8352]
[INFO] [map_server-10]: process started with pid [8355]
[INFO] [bt_navigator-11]: process started with pid [8361]
[INFO] [planner_server-12]: process started with pid [8368]
[INFO] [controller_server-13]: process started with pid [8374]
[INFO] [behavior_server-14]: process started with pid [8413]
[INFO] [lifecycle_manager-15]: process started with pid [8444]
[robot_state_publisher-1] [INFO] [1733214145.690786718] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_base_link
[robot_state_publisher-1] [INFO] [1733214145.691298272] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_body
[robot_state_publisher-1] [INFO] [1733214145.691357022] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_green_button
[robot_state_publisher-1] [INFO] [1733214145.691372271] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_head
[robot_state_publisher-1] [INFO] [1733214145.691380837] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_hokuyo_front
[robot_state_publisher-1] [INFO] [1733214145.691387279] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_left_wheel
[robot_state_publisher-1] [INFO] [1733214145.691395053] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_neck
[robot_state_publisher-1] [INFO] [1733214145.691410652] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_red_button
[robot_state_publisher-1] [INFO] [1733214145.691420220] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_right_wheel
[robot_state_publisher-1] [INFO] [1733214145.691426432] [PioneerP3DX.robot_state_publisher]: got segment PioneerP3DX_screen
[environment-3] [WARN] [1733214145.687760793] [Environment]: Specifying models through numbered parameters is deprecated. You should use a single list parameter instead (see test_env for examples)
[static_transform_publisher-7] [WARN] [1733214145.658269920] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-9] [WARN] [1733214145.662798316] []: Old-style arguments are deprecated; see --help for new-style arguments
[simulated_anemometer-6] [INFO] [1733214145.703608534] [fake_anemometer]: wind noise: 0.300000
[player-4] [INFO] [1733214145.710502418] [GadenPlayer]: Initializing 1 instances
[simulated_gas_sensor-8] [INFO] [1733214145.721619480] [fake_pid]: The data provided in the roslaunch file is:
[simulated_gas_sensor-8] [INFO] [1733214145.721879166] [fake_pid]: Sensor model: 30
[simulated_gas_sensor-8] [INFO] [1733214145.721901218] [fake_pid]: Fixed frame: map
[simulated_gas_sensor-8] [INFO] [1733214145.721906878] [fake_pid]: Sensor frame: PioneerP3DX_pid_frame
[simulated_gas_sensor-8] [INFO] [1733214145.721916015] [fake_pid]: Running at 10.000000Hz
[static_transform_publisher-7] [INFO] [1733214145.751276786] [anemometer_tf_pub]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.500000')
[static_transform_publisher-7] rotation: ('1.000000', '0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] from 'PioneerP3DX_base_link' to 'PioneerP3DX_anemometer_frame'
[static_transform_publisher-9] [INFO] [1733214145.767289850] [pid_tf_pub]: Spinning until stopped - publishing transform
[static_transform_publisher-9] translation: ('0.000000', '0.000000', '0.500000')
[static_transform_publisher-9] rotation: ('1.000000', '0.000000', '0.000000', '0.000000')
[static_transform_publisher-9] from 'PioneerP3DX_base_link' to 'PioneerP3DX_pid_frame'
[simulated_gas_sensor-8] [ERROR] [1733214145.769595063] [fake_pid]: "map" passed to lookupTransform argument target_frame does not exist.
[simulated_anemometer-6] [ERROR] [1733214145.779099691] [fake_anemometer]: "map" passed to lookupTransform argument target_frame does not exist.
[lifecycle_manager-15] [INFO] [1733214145.788794852] [PioneerP3DX.lifecycle_manager_navigation]: Creating
[map_server-10] [INFO] [1733214145.812467561] [PioneerP3DX.map_server]:
[map_server-10] map_server lifecycle node launched.
[map_server-10] Waiting on external lifecycle transitions to activate
[map_server-10] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-10] [INFO] [1733214145.812856008] [PioneerP3DX.map_server]: Creating
[bt_navigator-11] [INFO] [1733214145.821251199] [PioneerP3DX.bt_navigator]:
[bt_navigator-11] bt_navigator lifecycle node launched.
[bt_navigator-11] Waiting on external lifecycle transitions to activate
[bt_navigator-11] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-11] [INFO] [1733214145.821799385] [PioneerP3DX.bt_navigator]: Creating
[lifecycle_manager-15] [INFO] [1733214145.822357322] [PioneerP3DX.lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[controller_server-13] [INFO] [1733214145.827155026] [PioneerP3DX.controller_server]:
[controller_server-13] controller_server lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1733214145.833149733] [PioneerP3DX.controller_server]: Creating controller server
[planner_server-12] [INFO] [1733214145.831168671] [PioneerP3DX.planner_server]:
[planner_server-12] planner_server lifecycle node launched.
[planner_server-12] Waiting on external lifecycle transitions to activate
[planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1733214145.833109042] [PioneerP3DX.planner_server]: Creating
[behavior_server-14] [INFO] [1733214145.860578680] [PioneerP3DX.behavior_server]:
[behavior_server-14] behavior_server lifecycle node launched.
[behavior_server-14] Waiting on external lifecycle transitions to activate
[behavior_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1733214145.918336319] [PioneerP3DX.local_costmap.local_costmap]:
[controller_server-13] local_costmap lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1733214145.919599843] [PioneerP3DX.local_costmap.local_costmap]: Creating Costmap
[planner_server-12] [INFO] [1733214145.923877019] [PioneerP3DX.global_costmap.global_costmap]:
[planner_server-12] global_costmap lifecycle node launched.
[planner_server-12] Waiting on external lifecycle transitions to activate
[planner_server-12] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-12] [INFO] [1733214145.925053119] [PioneerP3DX.global_costmap.global_costmap]: Creating Costmap
[lifecycle_manager-15] [INFO] [1733214146.754420998] [PioneerP3DX.lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-15] [INFO] [1733214146.754534179] [PioneerP3DX.lifecycle_manager_navigation]: Configuring map_server
[map_server-10] [INFO] [1733214146.755091382] [PioneerP3DX.map_server]: Configuring
[map_server-10] [INFO] [map_io]: Loading yaml file: /home/wyx/test_ws/install/test_env/share/test_env/scenarios/10x6_central_obstacle/occupancy.yaml
[map_server-10] [DEBUG] [map_io]: resolution: 0.01
[map_server-10] [DEBUG] [map_io]: origin[0]: -0.2
[map_server-10] [DEBUG] [map_io]: origin[1]: -0.2
[map_server-10] [DEBUG] [map_io]: origin[2]: 0
[map_server-10] [DEBUG] [map_io]: free_thresh: 0.1
[map_server-10] [DEBUG] [map_io]: occupied_thresh: 0.9
[map_server-10] [DEBUG] [map_io]: mode: trinary
[map_server-10] [DEBUG] [map_io]: negate: 0
[map_server-10] [INFO] [map_io]: Loading image_file: /home/wyx/test_ws/install/test_env/share/test_env/scenarios/10x6_central_obstacle/occupancy.pgm
[map_server-10] [DEBUG] [map_io]: Read map /home/wyx/test_ws/install/test_env/share/test_env/scenarios/10x6_central_obstacle/occupancy.pgm: 1040 X 640 map @ 0.01 m/cell
[lifecycle_manager-15] [INFO] [1733214146.858112032] [PioneerP3DX.lifecycle_manager_navigation]: Configuring planner_server
[planner_server-12] [INFO] [1733214146.858685876] [PioneerP3DX.planner_server]: Configuring
[planner_server-12] [INFO] [1733214146.858736781] [PioneerP3DX.global_costmap.global_costmap]: Configuring
[planner_server-12] [INFO] [1733214146.874243663] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-12] [INFO] [1733214146.882334525] [PioneerP3DX.global_costmap.global_costmap]: Subscribing to the map topic (/PioneerP3DX/map) with transient local durability
[planner_server-12] [INFO] [1733214146.885037613] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-12] [INFO] [1733214146.885118244] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-12] [INFO] [1733214146.888167229] [PioneerP3DX.global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-12] [INFO] [1733214146.903036499] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-12] [INFO] [1733214146.903093296] [PioneerP3DX.global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-12] [INFO] [1733214146.904368682] [PioneerP3DX.global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-12] [INFO] [1733214146.943753592] [PioneerP3DX.planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-12] [INFO] [1733214146.943861253] [PioneerP3DX.planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-12] [INFO] [1733214146.946375237] [PioneerP3DX.planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-15] [INFO] [1733214146.982709938] [PioneerP3DX.lifecycle_manager_navigation]: Configuring controller_server
[controller_server-13] [INFO] [1733214146.983969722] [PioneerP3DX.controller_server]: Configuring controller interface
[controller_server-13] [INFO] [1733214146.984754240] [PioneerP3DX.controller_server]: getting goal checker plugins..
[controller_server-13] [INFO] [1733214146.986666868] [PioneerP3DX.controller_server]: Controller frequency set to 20.0000Hz
[controller_server-13] [INFO] [1733214146.986874517] [PioneerP3DX.local_costmap.local_costmap]: Configuring
[controller_server-13] [INFO] [1733214147.033876170] [PioneerP3DX.local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-13] [INFO] [1733214147.041078031] [PioneerP3DX.local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-13] [INFO] [1733214147.066842259] [PioneerP3DX.local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-13] [INFO] [1733214147.066951954] [PioneerP3DX.local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-13] [INFO] [1733214147.070798181] [PioneerP3DX.local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-13] [INFO] [1733214147.112007161] [PioneerP3DX.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-13] [INFO] [1733214147.113949355] [PioneerP3DX.controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-13] [INFO] [1733214147.115646450] [PioneerP3DX.controller_server]: Controller Server has general_goal_checker goal checkers available.
[controller_server-13] [INFO] [1733214147.117693971] [PioneerP3DX.controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-13] [INFO] [1733214147.125691686] [PioneerP3DX.controller_server]: Setting transform_tolerance to 0.200000
[controller_server-13] [INFO] [1733214147.177825577] [PioneerP3DX.controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-13] [INFO] [1733214147.181845338] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.182719654] [PioneerP3DX.controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-13] [INFO] [1733214147.186849351] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.188069438] [PioneerP3DX.controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-13] [INFO] [1733214147.190046663] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.191448213] [PioneerP3DX.controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-13] [INFO] [1733214147.194565057] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.195694130] [PioneerP3DX.controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-13] [INFO] [1733214147.198681664] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.199848517] [PioneerP3DX.controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-13] [INFO] [1733214147.201570980] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.202445887] [PioneerP3DX.controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-13] [INFO] [1733214147.203204346] [PioneerP3DX.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1733214147.203268386] [PioneerP3DX.controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-15] [INFO] [1733214147.227590356] [PioneerP3DX.lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-11] [INFO] [1733214147.228382017] [PioneerP3DX.bt_navigator]: Configuring
[lifecycle_manager-15] [INFO] [1733214147.436977651] [PioneerP3DX.lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-14] [INFO] [1733214147.437440046] [PioneerP3DX.behavior_server]: Configuring
[behavior_server-14] [INFO] [1733214147.459063927] [PioneerP3DX.behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-14] [INFO] [1733214147.460775870] [PioneerP3DX.behavior_server]: Configuring spin
[behavior_server-14] [INFO] [1733214147.486602644] [PioneerP3DX.behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-14] [INFO] [1733214147.487774031] [PioneerP3DX.behavior_server]: Configuring backup
[behavior_server-14] [INFO] [1733214147.502439133] [PioneerP3DX.behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-14] [INFO] [1733214147.516664699] [PioneerP3DX.behavior_server]: Configuring drive_on_heading
[behavior_server-14] [INFO] [1733214147.537975790] [PioneerP3DX.behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-14] [INFO] [1733214147.541361949] [PioneerP3DX.behavior_server]: Configuring assisted_teleop
[behavior_server-14] [INFO] [1733214147.565134270] [PioneerP3DX.behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-14] [INFO] [1733214147.566154519] [PioneerP3DX.behavior_server]: Configuring wait
[lifecycle_manager-15] [INFO] [1733214147.585949021] [PioneerP3DX.lifecycle_manager_navigation]: Activating map_server
[map_server-10] [INFO] [1733214147.586636599] [PioneerP3DX.map_server]: Activating
[map_server-10] [INFO] [1733214147.587818099] [PioneerP3DX.map_server]: Creating bond (map_server) to lifecycle manager.
[planner_server-12] [INFO] [1733214147.600293289] [PioneerP3DX.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 1040 X 640 at 0.010000 m/pix
[lifecycle_manager-15] [INFO] [1733214147.701108166] [PioneerP3DX.lifecycle_manager_navigation]: Server map_server connected with bond.
[lifecycle_manager-15] [INFO] [1733214147.701291700] [PioneerP3DX.lifecycle_manager_navigation]: Activating planner_server
[planner_server-12] [INFO] [1733214147.701915083] [PioneerP3DX.planner_server]: Activating
[planner_server-12] [INFO] [1733214147.701992467] [PioneerP3DX.global_costmap.global_costmap]: Activating
[planner_server-12] [INFO] [1733214147.702006594] [PioneerP3DX.global_costmap.global_costmap]: Checking transform
[planner_server-12] [INFO] [1733214147.702369703] [PioneerP3DX.global_costmap.global_costmap]: start
[planner_server-12] [INFO] [1733214148.754709177] [PioneerP3DX.planner_server]: Activating plugin GridBased of type NavfnPlanner
[planner_server-12] [INFO] [1733214148.758681279] [PioneerP3DX.planner_server]: Creating bond (planner_server) to lifecycle manager.
[lifecycle_manager-15] [INFO] [1733214148.872877118] [PioneerP3DX.lifecycle_manager_navigation]: Server planner_server connected with bond.
[lifecycle_manager-15] [INFO] [1733214148.873001140] [PioneerP3DX.lifecycle_manager_navigation]: Activating controller_server
[controller_server-13] [INFO] [1733214148.873431828] [PioneerP3DX.controller_server]: Activating
[controller_server-13] [INFO] [1733214148.873553776] [PioneerP3DX.local_costmap.local_costmap]: Activating
[controller_server-13] [INFO] [1733214148.873568334] [PioneerP3DX.local_costmap.local_costmap]: Checking transform
[controller_server-13] [INFO] [1733214148.873760203] [PioneerP3DX.local_costmap.local_costmap]: start
[controller_server-13] [INFO] [1733214149.076478341] [PioneerP3DX.controller_server]: Creating bond (controller_server) to lifecycle manager.
[lifecycle_manager-15] [INFO] [1733214149.190812628] [PioneerP3DX.lifecycle_manager_navigation]: Server controller_server connected with bond.
[lifecycle_manager-15] [INFO] [1733214149.190954023] [PioneerP3DX.lifecycle_manager_navigation]: Activating bt_navigator
[bt_navigator-11] [INFO] [1733214149.191468168] [PioneerP3DX.bt_navigator]: Activating
[bt_navigator-11] [INFO] [1733214149.408647804] [PioneerP3DX.bt_navigator]: Creating bond (bt_navigator) to lifecycle manager.
[lifecycle_manager-15] [INFO] [1733214149.518570591] [PioneerP3DX.lifecycle_manager_navigation]: Server bt_navigator connected with bond.
[lifecycle_manager-15] [INFO] [1733214149.518687119] [PioneerP3DX.lifecycle_manager_navigation]: Activating behavior_server
[behavior_server-14] [INFO] [1733214149.519302661] [PioneerP3DX.behavior_server]: Activating
[behavior_server-14] [INFO] [1733214149.519369997] [PioneerP3DX.behavior_server]: Activating spin
[behavior_server-14] [INFO] [1733214149.519402458] [PioneerP3DX.behavior_server]: Activating backup
[behavior_server-14] [INFO] [1733214149.519424098] [PioneerP3DX.behavior_server]: Activating drive_on_heading
[behavior_server-14] [INFO] [1733214149.519437283] [PioneerP3DX.behavior_server]: Activating assisted_teleop
[behavior_server-14] [INFO] [1733214149.519448875] [PioneerP3DX.behavior_server]: Activating wait
[behavior_server-14] [INFO] [1733214149.519466568] [PioneerP3DX.behavior_server]: Creating bond (behavior_server) to lifecycle manager.
[lifecycle_manager-15] [INFO] [1733214149.628219621] [PioneerP3DX.lifecycle_manager_navigation]: Server behavior_server connected with bond.
[lifecycle_manager-15] [INFO] [1733214149.628339896] [PioneerP3DX.lifecycle_manager_navigation]: Managed nodes are active
[lifecycle_manager-15] [INFO] [1733214149.628362038] [PioneerP3DX.lifecycle_manager_navigation]: Creating bond timer...

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@PepeOjeda @Qwxmwdncjwncc