nav2_lifecycle_manager::LifecycleManagerClient Pause/Resume Crash #2225
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- ROS2 Version:
- foxy
- Version or commit hash:
- ros-foxy-navigation2 0.4.5-1focal.20210203.232630
- DDS implementation:
- FastRTPS
Steps to reproduce issue
- Setup using the Getting Started guide here: https://navigation.ros.org/getting_started/index.html
- After step 3:
ros2 launch nav2_bringup tb3_simulation_launch.py - Once Gazebo finishes loading, use the 2d Pose Estimate to initialize the robot's position.
- Next click Waypoint mode in the Rviz Navigation 2 panel.
- Click Navigation2 Goal and select a waypoint
- Click Start Navigation from the Navigation 2 panel
- Click Pause from the Navigation 2 panel
- Click Resume from the Navigation 2 panel
Expected behavior
Robot would resume moving, Rviz and Gazebo would not crash
Actual behavior
Rviz and Gazebo crash
Additional information
Navigation 2 panel code that handles the pause button press:
https://github.com/ros-planning/navigation2/blob/main/nav2_rviz_plugins/src/nav2_panel.cpp#L316
code for the resume button press:
https://github.com/ros-planning/navigation2/blob/main/nav2_rviz_plugins/src/nav2_panel.cpp#L331
Console output:
[bt_navigator-11] [ERROR] [1615235635.535703295] - :/tmp/binarydeb/ros-foxy-rclcpp-lifecycle-2.3.0/src/lifecycle_node_interface_impl.hpp:change_state:381: Unable to start transition 3 from current state active: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.10/src/rcl_lifecycle.c:350
[lifecycle_manager-13] [INFO] [1615235635.536128951] - lifecycle_manager_navigation:/tmp/binarydeb/ros-foxy-nav2-lifecycle-manager-0.4.5/src/lifecycle_manager.cpp:message:261: Activating waypoint_follower
[waypoint_follower-12] [WARN] [1615235635.536369635] - rcl_lifecycle:/tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.10/src/rcl_lifecycle.c:rcl_lifecycle_get_transition_by_id:313: No transition matching 3 found for current state unconfigured
[waypoint_follower-12] [ERROR] [1615235635.536409160] - :/tmp/binarydeb/ros-foxy-rclcpp-lifecycle-2.3.0/src/lifecycle_node_interface_impl.hpp:change_state:381: Unable to start transition 3 from current state unconfigured: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.10/src/rcl_lifecycle.c:350
[lifecycle_manager-13] [ERROR] [1615235635.536791293] - lifecycle_manager_navigation:/tmp/binarydeb/ros-foxy-nav2-lifecycle-manager-0.4.5/src/lifecycle_manager.cpp:changeStateForNode:145: Failed to change state for node: waypoint_follower
[lifecycle_manager-13] [ERROR] [1615235635.536829043] - lifecycle_manager_navigation:/tmp/binarydeb/ros-foxy-nav2-lifecycle-manager-0.4.5/src/lifecycle_manager.cpp:resume:243: Failed to resume nodes: aborting resume
[waypoint_follower-12] [ERROR] [1615235635.545342419] - waypoint_follower:/opt/ros/foxy/include/nav2_util/simple_action_server.hpp:error_msg:399: [FollowWaypoints] [ActionServer] Trying to publish feedback when the current goal handle is not active
[waypoint_follower-12] [ERROR] [1615235635.595347923] - waypoint_follower:/opt/ros/foxy/include/nav2_util/simple_action_server.hpp:error_msg:399: [FollowWaypoints] [ActionServer] Trying to publish feedback when the current goal handle is not active
[waypoint_follower-12] [ERROR] [1615235635.645353475] - waypoint_follower:/opt/ros/foxy/include/nav2_util/simple_action_server.hpp:error_msg:399: [FollowWaypoints] [ActionServer] Trying to publish feedback when the current goal handle is not active
[recoveries_server-10] [INFO] [1615235635.670288345] - recoveries_server:/tmp/binarydeb/ros-foxy-nav2-recoveries-0.4.5/include/nav2_recoveries/recovery.hpp:operator():171: spin running...
[waypoint_follower-12] [ERROR] [1615235635.695352677] - waypoint_follower:/opt/ros/foxy/include/nav2_util/simple_action_server.hpp:error_msg:399: [FollowWaypoints] [ActionServer] Trying to publish feedback when the current goal handle is not active
[waypoint_follower-12] [ERROR] [1615235635.745347673] - waypoint_follower:/opt/ros/foxy/include/nav2_util/simple_action_server.hpp:error_msg:399: [FollowWaypoints] [ActionServer] Trying to publish feedback when the current goal handle is not active
[waypoint_follower-12] [ERROR] [1615235635.795402201] - waypoint_follower:/opt/ros/foxy/include/nav2_util/simple_action_server.hpp:error_msg:399: [FollowWaypoints] [ActionServer] Trying to publish feedback when the current goal handle is not active
[ERROR] [rviz2-4]: process has died [pid 208779, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -r __node:=rviz2'].