Problem with Navigation Example

[lacie-life]

Hello, I met a problem when running the navigation script with the example in 7.2.8. ROS2 Navigation

I install ROS 2-Humble following the ROS 2 install and configuration with Isaac Sim

Here is my environment information for re-produce error

OS: Ubuntu 22.04
ROS2 Distributor: Humble
WorkSpace Location: IsaacSim-ros_workspaces
Isaac Sim: 2023.1.1

Command:

ros2 launch carter_navigation carter_navigation.launch.py

Output:

[INFO] [launch]: All log files can be found below /home/lacie/.ros/log/2024-03-22-17-49-28-505698-lacie-life-3837280
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'pointcloud_to_laserscan' not found, searching: ['/home/lacie/workspaces/IsaacSim-ros_workspaces/humble_ws/install/isaac_tutorials', '/home/lacie/workspaces/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_navigation_goal', '/home/lacie/workspaces/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros2_messages', '/home/lacie/workspaces/IsaacSim-ros_workspaces/humble_ws/install/custom_message', '/home/lacie/workspaces/IsaacSim-ros_workspaces/humble_ws/install/carter_navigation', '/opt/ros/humble']"
[INFO] [rviz2-1]: process started with pid [3837291]
[INFO] [component_container_isolated-2]: process started with pid [3837293]
[component_container_isolated-2] [INFO] [1711097369.165438867] [nav2_container]: Load Library: /opt/ros/humble/lib/libmap_server_core.so
[component_container_isolated-2] [INFO] [1711097369.172568963] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-2] [INFO] [1711097369.172595697] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-2] [INFO] [1711097369.172597776] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1711097369.172599592] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1711097369.175122496] [map_server]: 
[component_container_isolated-2] 	map_server lifecycle node launched. 
[component_container_isolated-2] 	Waiting on external lifecycle transitions to activate
[component_container_isolated-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1711097369.175141716] [map_server]: Creating
[INFO] [rviz2-1]: sending signal 'SIGINT' to process[rviz2-1]
[INFO] [component_container_isolated-2]: sending signal 'SIGINT' to process[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1711097369.178046962] [rclcpp]: signal_handler(signum=2)
[component_container_isolated-2] [INFO] [1711097369.178079718] [map_server]: Running Nav2 LifecycleNode rcl preshutdown (map_server)
[component_container_isolated-2] [INFO] [1711097369.178098841] [map_server]: Destroying bond (map_server) to lifecycle manager.
[ERROR] [rviz2-1]: process has died [pid 3837291, exit code -2, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/lacie/workspaces/IsaacSim-ros_workspaces/humble_ws/install/carter_navigation/share/carter_navigation/rviz2/carter_navigation.rviz --ros-args'].
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running
[ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/nav2_container/_container/load_node' service response, due to shutdown.
Future exception was never retrieved
future: <Future finished exception=InvalidHandle('cannot use Destroyable because destruction was requested')>
Traceback (most recent call last):
  File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
    result = self.fn(*self.args, **self.kwargs)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 197, in _load_in_sequence
    self._load_node(next_load_node_request, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch_ros/actions/load_composable_nodes.py", line 119, in _load_node
    while not self.__rclpy_load_node_client.wait_for_service(timeout_sec=1.0):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 180, in wait_for_service
    return self.service_is_ready()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 159, in service_is_ready
    with self.handle:
rclpy._rclpy_pybind11.InvalidHandle: cannot use Destroyable because destruction was requested
[ERROR] [component_container_isolated-2]: process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [component_container_isolated-2]: sending signal 'SIGTERM' to process[component_container_isolated-2]
[component_container_isolated-2] [INFO] [1711097374.181358543] [rclcpp]: signal_handler(signum=15)
[ERROR] [component_container_isolated-2]: process[component_container_isolated-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [component_container_isolated-2]: sending signal 'SIGKILL' to process[component_container_isolated-2]

I also tried it with multi-robot example and met the same error, after checking something, I can run the script when commenting pointcloud_to_laserscan node. I don't know exactly the problem.

Do you have any suggestions for me?
Many thanks!

[ayushgnv]

It looks like pointcloud_to_laserscan package is not installed on your system. Could you try the steps provided here to build the workspace including the rosdep commands which will ensure you have all necessary packages installed on the system?