Error in the planner of multirobot part course

[saxosun]

Hello,
the localization works. The trasformations work.

I am able to set the initial position of the two robots.

When I launch the planner I get these errors

[lifecycle_manager-5] [ERROR] [1683288841.895942475] [tb3_0_lifecycle_manager_multi_pathplanner]: Server tb3_0/planner_server was unable to be reached after 4.00s by bond. This server may be misconfigured.
[lifecycle_manager-5] [ERROR] [1683288841.896029864] [tb3_0_lifecycle_manager_multi_pathplanner]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-10] [ERROR] [1683288841.968176116] [tb3_1_lifecycle_manager_multi_pathplanner]: Server tb3_1/planner_server was unable to be reached after 4.00s by bond. This server may be misconfigured.
[lifecycle_manager-10] [ERROR] [1683288841.968267232] [tb3_1_lifecycle_manager_multi_pathplanner]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-5] terminate called after throwing an instance of ‘statemap::TransitionUndefinedException’
[lifecycle_manager-5] what(): no such transition in current state
[lifecycle_manager-10] terminate called after throwing an instance of ‘statemap::TransitionUndefinedException’
[lifecycle_manager-10] what(): no such transition in current state
[ERROR] [lifecycle_manager-5]: process has died [pid 11729, exit code -6, cmd ‘/opt/ros/galactic/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=tb3_0_lifecycle_manager_multi_pathplanner --params-file /tmp/launch_params_8zn56_rx --params-file /tmp/launch_params_ugzdwuat’].
[ERROR] [lifecycle_manager-10]: process has died [pid 11819, exit code -6, cmd ‘/opt/ros/galactic/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=tb3_1_lifecycle_manager_multi_pathplanner --params-file /tmp/launch_params_ww0r9hij --params-file /tmp/launch_params_h2vsdtks’].

Also in the rviz2 does not receive the map of the local costmap

[girishkumar.kannan]

Hi @saxosun ,

Is the bond_timeout value in the launch file for lifecycle_manager nodes set to 0.0 seconds?
That is probably the cause as the errors says something about bond.

Please post your launch file as a code-block here.

Regards,
Girish

[saxosun]

Helllo @Girish,
you was right!
The error depends from bond_timeout missing. I set bond_timeout = 0.0 and now it works.
Thank your help.
Regards
Salvatore
{

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():

tb3_0_controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_controller.yaml')
tb3_1_controller_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_controller.yaml')   

tb3_0_bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_bt_navigator.yaml')
tb3_1_bt_navigator_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_bt_navigator.yaml')

tb3_0_planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_planner_server.yaml')
tb3_1_planner_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_planner_server.yaml')    

tb3_0_recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_0_recovery.yaml')
tb3_1_recovery_yaml = os.path.join(get_package_share_directory('path_planner_server'), 'config', 'tb3_1_recovery.yaml')

return LaunchDescription([  

# LAUNCH TB3_0

    Node(
        namespace = 'tb3_0',
        package='nav2_controller',
        executable='controller_server',
        name='controller_server',
        output='screen',
        parameters=[tb3_0_controller_yaml]),

    Node(
        namespace = 'tb3_0',
        package='nav2_planner',
        executable='planner_server',
        name='planner_server',
        output='screen',
        parameters=[tb3_0_planner_yaml]),   
    
    Node(
        namespace = 'tb3_0',
        package='nav2_recoveries',
        executable='recoveries_server',
        name='recoveries_server',
        parameters=[tb3_0_recovery_yaml],
        output='screen'),
    
    Node(
        namespace = 'tb3_0',
        package='nav2_bt_navigator',
        executable='bt_navigator',
        name='bt_navigator',
        output='screen',
        parameters=[tb3_0_bt_navigator_yaml]),

    Node(
        package='nav2_lifecycle_manager',
        executable='lifecycle_manager',
        name='tb3_0_lifecycle_manager_multi_pathplanner',
        output='screen',
        parameters=[{'autostart': True},
                    {'bond_timeout':0.0},
                    {'node_names': [
                                    
                                    'tb3_0/planner_server',                                        
                                  
                                    'tb3_0/controller_server',                                      
                                   
                                    'tb3_0/recoveries_server',                                   
                                   
                                    'tb3_0/bt_navigator']}]),
   

    Node(
        namespace = 'tb3_1',
        package='nav2_controller',
        executable='controller_server',
        name='controller_server',
        output='screen',
        parameters=[tb3_1_controller_yaml]),

    
    Node(
        namespace = 'tb3_1',
        package='nav2_planner',
        executable='planner_server',
        name='planner_server',
        output='screen',
        parameters=[tb3_1_planner_yaml]),            


    Node(
        namespace = 'tb3_1',
        package='nav2_recoveries',
        executable='recoveries_server',
        name='recoveries_server',
        parameters=[tb3_1_recovery_yaml],
        output='screen'),



    Node(
        namespace = 'tb3_1',
        package='nav2_bt_navigator',
        executable='bt_navigator',
        name='bt_navigator',
        output='screen',
        parameters=[tb3_1_bt_navigator_yaml]),
    


    Node(
        package='nav2_lifecycle_manager',
        executable='lifecycle_manager',
        name='tb3_1_lifecycle_manager_multi_pathplanner',
        output='screen',
        parameters=[{'autostart': True},
                    {'bond_timeout':0.0},
                    {'node_names': [
                                    'tb3_1/planner_server',
                                                            
                                    'tb3_1/controller_server',
                                                     
                                    'tb3_1/recoveries_server', 
                                                         
                                    'tb3_1/bt_navigator']}])
                                    
])

}

[girishkumar.kannan]

Hi @saxosun ,

Glad to know that your problem is fixed. Please mark the corresponding post as the solution so that this issue can be closed.

Also please reformat the launch file contents as a code-block as I have mentioned earlier.
That way I can give you suggestions / corrections on your launch file, if any.

Regards,
Girish