ROS2 Navigation Unit 3: Stuck on Configuring amcl

[robinheggelund1]

Im doing the third unit of ROS2 Navigation where Im starting a launch file that starts three nodes. When starting the launch file the program gets stuck on [lifecycle_manager_localization]: Configuring amcl

The launch file, amcl file etc are directly copied from the course material.

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():
    
    nav2_yaml = os.path.join(get_package_share_directory('localization_server'), 'config', 'amcl_config.yaml')
    map_file = os.path.join(get_package_share_directory('map_server'), 'config', 'turtlebot_area.yaml')

    return LaunchDescription([
        Node(
            package='nav2_map_server',
            executable='map_server',
            name='map_server',
            output='screen',
            parameters=[{'use_sim_time': True}, 
                        {'yaml_filename':map_file}]
        ),
            
        Node(
            package='nav2_amcl',
            executable='amcl',
            name='amcl',
            output='screen',
            parameters=[nav2_yaml]
        ),

        Node(
            package='nav2_lifecycle_manager',
            executable='lifecycle_manager',
            name='lifecycle_manager_localization',
            output='screen',
            parameters=[{'use_sim_time': True},
                        {'autostart': True},
                        {'node_names': ['map_server', 'amcl']}]
        )
    ])

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 8000
    min_particles: 200
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05

[albertoezquerro]

Hello @robinheggelund1 ,

I’ve been checking your files and It looks like you had a problem in your ros2_ws workspace. I think at some point you built the workspace with ROS1 sourced, which caused this issue. The problem was actually this one:

This means there’s a conflict with the libamcl_core.so library.

I solved by removing your workspace files and rebuilding it sourcing ROS2:

cd ~/ros2_ws
rm -rf build install log
source  /opt/ros/galactic/setup.basah
colcon build
source ~/ros2_ws/install/setup.bash

You should be good to go now.