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Planner and Controller Server unable to survive reset + startup #1917

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Michael-Equi opened this issue Aug 6, 2020 · 5 comments · Fixed by #1919
Closed

Planner and Controller Server unable to survive reset + startup #1917

Michael-Equi opened this issue Aug 6, 2020 · 5 comments · Fixed by #1919

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@Michael-Equi
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Bug report

Required Info:

  • Operating System:
    • Ubuntu 20.04
  • ROS2 Version:
    • ROS2 binaries
  • Version or commit hash:
  • DDS implementation:
    • Cyclone DDS

Steps to reproduce issue

Start the navigation stack and have RViz 2 running with the Navigation2 panel. Startup the navigation stack for the first time (unless done by autostart) and begin using the navstack like normal. Hit the reset button in the nav2 stack pannel and attempt to re-startup the system.

Expected behavior

All the nav2 nodes should transition to an active state error free.

Actual behavior

In every attempt at restarting the nav2 system the controller or planner server emits an error similar to either of the following:

[planner_server-4] [INFO] [1596675843.557904809] [planner_server]: Configuring
[planner_server-4] [INFO] [1596675843.557931726] [global_costmap.global_costmap]: Configuring
[planner_server-4] [ERROR] [1596675843.558043453] []: Caught exception in callback for transition 10
[planner_server-4] [ERROR] [1596675843.558051673] []: Original error: parameter 'static_layer.plugin' has already been declared
[planner_server-4] [WARN] [1596675843.558068927] []: Error occurred while doing error handling.


[controller_server-3] [ERROR] [1596676033.151989476] []: Caught exception in callback for transition 10
[controller_server-3] [ERROR] [1596676033.151999489] []: Original error: parameter 'stvl_layer.observation_sources' has already been declared
[controller_server-3] [WARN] [1596676033.152020113] []: Error occurred while doing error handling.
@SteveMacenski
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That's odd because I just very recently did a bunch of tests of this to deal with bond. Can you pull in master and see if any of those changes help?

Original error: parameter 'stvl_layer.observation_sources' has already been declared

That's an STVL bug it seems like, please file a ticket over there and we can chat on it

Original error: parameter 'static_layer.plugin' has already been declared

That shouldn't be happening and I've tested that at length. Can you pull master and see if still an issue? If so, we can work on that too

@SteveMacenski
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STVL makes sense https://github.com/SteveMacenski/spatio_temporal_voxel_layer/blob/foxy-devel/src/spatio_temporal_voxel_layer.cpp#L66 this function is called on on_configure() and clearly its made no attempt to deal with resets. It should be an easy fix by changing the declare to declare_if_not_declared

@Michael-Equi Michael-Equi mentioned this issue Aug 6, 2020
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@Michael-Equi
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I pulled the latest and it still is giving me the same issues.

SteveMacenski added a commit that referenced this issue Aug 6, 2020
@SteveMacenski
fixing #1917 on declare if not declared
e10d795
@SteveMacenski
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Confirmed, I see the static layer problem as well now. It looks like L308-312 in costmap_2d_ros.cpp needs to declare if not declared.

@SteveMacenski SteveMacenski mentioned this issue Aug 6, 2020
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@SteveMacenski SteveMacenski linked a pull request Aug 6, 2020 that will close this issue
Costmap plugins declare if not declared for reset capabilities #1919
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@SteveMacenski
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#1919 resolves

SteveMacenski added a commit that referenced this issue Aug 6, 2020
@SteveMacenski
Costmap plugins declare if not declared for reset capabilities (#1919)
34d6184 
* fixing #1917 on declare if not declared

* fix API
@Michael-Equi Michael-Equi mentioned this issue Aug 6, 2020
Merged
SteveMacenski added a commit that referenced this issue Aug 11, 2020
@SteveMacenski
Costmap plugins declare if not declared for reset capabilities (#1919)
e222944 
* fixing #1917 on declare if not declared

* fix API
SteveMacenski added a commit that referenced this issue Aug 11, 2020
@SteveMacenski @Michael-Equi
@naiveHobo @daisukes @ruffsl @siddhya @fmrico @allenh1 @gimait @ijsmallman @Marwan99
Foxy sync 2 (July 1 to August 7) (#1932)
671dde6 
* Add slam toolbox as exec dep for nav2_bringup (#1827)

* Add slam toolbox as exec dep

* Added slam toolbox

* Changed version of slam toolbox to foxy-devel

* Added modifications to allow for exec depend of slam toolbox without breaking docker / CI

* reformatted skip keys

* Added tabs to skip key arguments

* Removed commented out code block

* Add unit tests for follow path, compute path to pose, and navigate to pose BT action nodes (#1844)

* Add compute path to pose unit tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add follow path action unit tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add navigate to pose action unit tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* adding foxy build icons to readme (#1853)

* adding foxy build icons

* adding dividers

* sync master from foxy version updates (#1852)

* sync master from foxy version updates

* syncing foxy and master

* Add unit tests for clear entire costmap and reinitialize global localization BT service nodes (#1845)

* Add clear entire costmap service unit tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add reinitialize global localization service unit test

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Temporarily disable dump_params test (#1856)

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* commenting out unused validPointPotential (#1854)

* Adding ROS2 versions to issue template (#1861)

* reload behavior tree before creating RosTopicLogger to prevent nullptr error or no /behavior_tree_log problem (#1849)

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* Add citation for IROS paper (#1867)

* Add citation

We'll want to add the DOI once published

* Bump citation section above build status

* Fix line breaks

* Changes RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED to RCUTILS_LOGGING_BUFFERED_STREAM (#1868)

* Added parameters to configure amcl laser scan topic (#1870)

* Added parameters to configure amcl topic

* changed parameter to scan_topic and added to all the configuration files

* added scan_topic amcl param to docs

* Satisfied linter

* Move dwb goal/progress checker plugins to nav2_controller (#1857)

* Move dwb goal/progress checker plugins to nav2_controller

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Move goal/progress checker plugins to nav2_controller

Address review comments

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Move goal/progress checker plugins to nav2_controller

Use new plugin declaration format and doc update

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Update bringup.yaml for new plugins in nav2_controller

Also remove redundent file from dwb_plugins
Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Fix doc errors and update remaining yaml files

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Remove mention of goal_checker from dwb docs

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Add .plugin params to doc

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Tests for progress_checker plugin

declare .plugin only if not declared before

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Tweak plugin names/description in doc

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Follow pose (#1859)

* Truncate path finished

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Follow Pose finished

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Change names. Add test and doc

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Change names and check atan2 values

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Checking Inf/NaNs and trucate path changes

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Revert changes in launcher

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Documenting Tree

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Change TruncatePath from decorator to action node

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Remove Deprecated Declaration (#1884)

* Remove deprecated rclcpp::executor::FutureReturnCode::SUCCESS in favor of rclcpp::FutureReturnCode::SUCCESS

Signed-off-by: Hunter L. Allen <hunter.allen@ghostrobotics.io>

* Update nav2_util/include/nav2_util/service_client.hpp

Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Added new costmap buffer to resize map safely (#1837)

* Added new costmap buffer to resize map safely

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Update map if the layer is not being processed.

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Updated bool name and added buffer initialization

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Fix dump params tests (#1886)

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Move definitions in tf_help to separate src cpp file (#1890)

* Move definitions of functions in tf_help to separate src cpp file to avoid multiple definition error

* Fix linting issues

* Make uncrustify happier

* More format fixing

* resolved the simulated motion into its x & y components (#1887)

Signed-off-by: Marwan Taher <marokhaled99@gmail.com>

* Fix nav2_bt_navigator cleanup (#1901)

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Adding some more test coverage (#1903)

* more tests

* removing old cmake

* remove on_errors in specific servers in favor of a general lifecycle warning (#1904)

* remove on_errors in favor of a general lifecycle warning

* adding removed thing

* simply nodes to remove lines (#1907)

* Bunches of random new tests (#1909)

* trying to get A* to work again

* make flake 8 happy

* adding cancel and preempt test

* planner tests use A*

* adding A* note

* test with topic

* Adding failure to navigate test (#1912)

* failures tests

* adding copyrights

* cancel test in recoveries

* Costmap lock while copying data in navfn planner (#1913)

* acquire the costmap lock while copying data in navfn planner

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* add costmap lock to dwb local plannger

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* Added map_topic parameters to static layer and amcl (#1910)

* see if spin some in cancel will allow result callback (#1914)

* Adding near-complete voxel grid test coverage and more to controller server (#1915)

* remove erraneous handling done by prior

* adding a bunch of voxel unit tests

* retrigger

* adding waypoint follower failure test, voxel layer integration tests, etc (#1916)

* adding waypoint follower failure test

* adding voxel, more logging

* reset -> clear

* minor changes to lower redundent warnings (#1918)

* Costmap plugins declare if not declared for reset capabilities (#1919)

* fixing #1917 on declare if not declared

* fix API

* adding CLI test (#1920)

* More coverage in map server tests (#1921)

* adding CLI test

* adding a bunch of new coverages for map_server

* Add in range sensor costmap layer (#1888)

* range costmap building

* range sensor layer working

* nav2 costmap pass linter and uncrustify tests

* Added back semicolon to range class

* Added docs

* Added angles dependency

* Added BSD license

* Added BSD license

* Made functions inline

* revmoed get_clock

* added input_sensor_type to docs

* Made defualt topic name empty to cause error

* using chorno literal to denote time units

* Added small initial test

* Fixed linter error, line breaks, enum, logger level, and transform_tolerance issue

* fixed segmentation fault in test and added transfrom tolerances to tf_->transform

* Got test to pass

* Added more tests

* removed incorrect parameter declaration

* Improved marking while moving tests and added clearing tests

* removed general clearing test

* changed testing helper import in test

* [Test sprint] push nav2_map_server over 90% (#1922)

* adding CLI test

* adding tests for more lines to map_server

* fix last test

* adding out of bounds and higher bounds checks

* adding planner tests for plugins working

* add cleanup

* working

* ping

* [testing sprint] final test coverage and debug logging in planner/controller servers (#1924)

* adding CLI test

* adding tests for more lines to map_server

* fix last test

* adding out of bounds and higher bounds checks

* adding planner tests for plugins working

* add cleanup

* working

* ping

* adding more testing and debug info messages

* [testing sprint] remove dead code not used in 10 years from navfn (#1926)

* remove dead code not used in 10 years from navfn

* ping

* inverting period to rate

* removing debug statement that could never be triggered by a single non-looping action server

* type change

* adding removed files

* bump to 0.4.2

* add another missing file

* add missing files

* remove some tests

* lint

* removing nav2_bringup from binaries

Co-authored-by: Michael Equi <32988490+Michael-Equi@users.noreply.github.com>
Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com>
Co-authored-by: Ruffin <roxfoxpox@gmail.com>
Co-authored-by: Siddarth Gore <siddarth.gore@gmail.com>
Co-authored-by: Francisco Martín Rico <fmrico@gmail.com>
Co-authored-by: Hunter L. Allen <hunter.allen@ghostrobotics.io>
Co-authored-by: Aitor Miguel Blanco <aitormibl@gmail.com>
Co-authored-by: Joe Smallman <ijsmallman@gmail.com>
Co-authored-by: Marwan Taher <marokhaled99@gmail.com>
SteveMacenski added a commit that referenced this issue Aug 11, 2020
@SteveMacenski
Costmap plugins declare if not declared for reset capabilities (#1919)
6674e03 
* fixing #1917 on declare if not declared

* fix API
ruffsl pushed a commit to ruffsl/navigation2 that referenced this issue Jul 2, 2021
@SteveMacenski @ruffsl
Costmap plugins declare if not declared for reset capabilities (ros-n…
e4d731a 
…avigation#1919)

* fixing ros-navigation#1917 on declare if not declared

* fix API
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Costmap plugins declare if not declared for reset capabilities ros-navigation/navigation2
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@SteveMacenski @Michael-Equi