Nav2 BT navigator issue

[Rak-r]

ROS2 Humble
Cyclone DDS

Expected behaviour- should run NAV2. I am using default plugins of bt navigator but still I am not able to figure out the issue.

Actual- bt navigator node not launching.

bt_navigator-4] [ERROR] [1690388832.138353661] []: Original error: Could not load library: libnav2_are_error_codes_active_condition_bt_node.so: cannot open shared object file: No such file or directory
[bt_navigator-4] [WARN] [1690388832.138802216] []: Error occurred while doing error handling.
[bt_navigator-4] [FATAL] [1690388832.139147730] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-5] [ERROR] [1690388832.140413933] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-5] [ERROR] [1690388832.140445460] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

[SteveMacenski]

libnav2_are_error_codes_active_condition_bt_node

This isn't a BT node in Humble, you're probably using a parameter file you took from the main branch instead of appropriately from the humble branch. The main branch has stuff humble doesn't.

[Rak-r]

I tried changing the params and it seems the issue is no longer there. Thanks a lot.

[Cristian-wp]

Hi @Rak-r I have your exact same problem:

lifecycle_manager-14] [INFO] [1700820547.300933970] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-14] [INFO] [1700820547.301005364] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-7] [WARN] [1700820547.301310911] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[controller_server-7] [ERROR] [1700820547.301329534] [controller_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-14] [INFO] [1700820547.301832985] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-8] [WARN] [1700820547.302026701] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[smoother_server-8] [ERROR] [1700820547.302045041] [smoother_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-14] [INFO] [1700820547.302364218] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-9] [WARN] [1700820547.302519899] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[planner_server-9] [ERROR] [1700820547.302537385] [planner_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-14] [INFO] [1700820547.302776746] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-10] [WARN] [1700820547.302911425] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[behavior_server-10] [ERROR] [1700820547.302927600] [behavior_server]: Unable to start transition 1 from current state inactive: Transition is not registered., at ./src/rcl_lifecycle.c:355
[lifecycle_manager-14] [INFO] [1700820547.303191023] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-11] [INFO] [1700820547.303381089] [bt_navigator]: Configuring
[bt_navigator-11] [ERROR] [1700820547.337725521] [bt_navigator]: Caught exception in callback for transition 10
[bt_navigator-11] [ERROR] [1700820547.337762428] [bt_navigator]: Original error: Could not load library: libnav2_are_error_codes_active_condition_bt_node.so: cannot open shared object file: No such file or directory
[bt_navigator-11] [WARN] [1700820547.337784641] [bt_navigator]: Error occurred while doing error handling.
[bt_navigator-11] [ERROR] [1700820547.337798562] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-14] [ERROR] [1700820547.338181273] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-14] [ERROR] [1700820547.338208415] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[lifecycle_manager-14] [INFO] [1700820593.618853682] [lifecycle_manager_navigation]: Resetting managed nodes...
[lifecycle_manager-14] [INFO] [1700820593.618894026] [lifecycle_manager_navigation]: Deactivating velocity_smoother
[velocity_smoother-13] [WARN] [1700820593.619228674] [rcl_lifecycle]: No transition matching 4 found for current state unconfigured

Can you please link the branch you used?
I have try to use these ones:

1. git clone --recursive https://github.com/ros-planning/navigation2.git -b humble
2. git clone --recursive https://github.com/ros-planning/navigation2.git -b 1.1.9

But nothing has changed.

[Rak-r]

In the main NAV2 repo just switch to humble branch and look for nav2_params.yaml in nav2_bringup package. I just took that configuration for BT navigator and it seemed to solved the issue.

[Cristian-wp]

I will try it now and let you know.
Sorry for the dummy question but I do not understand this thing, if I clone the report as I do (git clone --recursive https://github.com/ros-planning/navigation2.git -b humble) it should be already correct right?

[Rak-r]

I am not sure about because I haven't done it in that way. However as long as you are cloning the humbe branch it should work. Are you having NAV2 installed through binary?

[Cristian-wp]

In both way, I have install with apt-get and clone the source package in my workspace.
but all two are humble version, I am sure 100%.
I get that error doing the Navigating Using GPS Localization tutorial testing the setup of the navigation system with the command:
ros2 launch nav2_gps_waypoint_follower_demo gps_waypoint_follower.launch.py use_rviz:=True and sending goal to the robot with RViz

[Vasishthbhatt]

In both way, I have install with apt-get and clone the source package in my workspace. but all two are humble version, I am sure 100%. I get that error doing the Navigating Using GPS Localization tutorial testing the setup of the navigation system with the command: ros2 launch nav2_gps_waypoint_follower_demo gps_waypoint_follower.launch.py use_rviz:=True and sending goal to the robot with RViz

hello sir but i faced the same issue and solved it can you please share your colcon build output? because my problem was connected to nav2_sms_behavior package after removing that package my nav2_gps package was built correctly.

[Cristian-wp]

Hi @Vasishthbhatt I had the same problem of yours, but in my case I was missing some dependancy.
I resolve installing them

[ZaBy10]

In both way, I have install with apt-get and clone the source package in my workspace. but all two are humble version, I am sure 100%. I get that error doing the Navigating Using GPS Localization tutorial testing the setup of the navigation system with the command: ros2 launch nav2_gps_waypoint_follower_demo gps_waypoint_follower.launch.py use_rviz:=True and sending goal to the robot with RViz

Hii @Cristian-wp , I have the same problem and could not find any solution to this........Could you provide me the entire solution to this,please it is urgent!!!

Thanks in advance....

[Cristian-wp]

@ZaBy10 I had two problem with this example, the first was fix installing the missing dependency with: sudo apt install ros-$ROS_DISTRO-nav2-* -y
But If you are planning to run that example with ROS 2 Humble It can not work, simply because is not implemented.
That tutorial is based on a navigation type implemented from ROS 2 Iron.

[ZaBy10]

Hii @Cristian-wp , Will the Navigating Using GPS Localization tutorial work on ros2 foxy atleast??

[Cristian-wp]

@ZaBy10 no, as you can read here only Iron or newer

[ZaBy10]

@Cristian-wp ,Thanks for taking your time and helping ,Aprreciate it a lot.....

Do you think is there any other way to Navigate using gps localisation on ros2 humble or ros2 foxxy

[Cristian-wp]

No idea...sorry