Multi-robot navigation (using multi_tb3_simulation_launch.py) does not work [Groot monitoring] #2386
Description
Bug report
Required Info:
- Operating System:
- Docker + Ubuntu 20.04
- ROS2 Version:
- foxy binaries
- Version or commit hash:
- 0.4.7-1focal.20210423.031543
- DDS implementation:
- Fast DDS
Steps to reproduce issue
Run the command:
ros2 launch nav2_bringup multi_tb3_simulation_launch.py
In both of the rviz windows that open:
- Click
Startup - Select the 2D pose estimates
- Select navigation goals
Expected behavior
- Pressing
Startupshould successfully start the nav2 stack for both robots - Both robots navigate to their respective goals
Actual behavior
- For whichever robot whose nav2 stack is started second, the following error occurs when clicking
Startup(lines 685 to 690 in the attached file):
[bt_navigator-12] [ERROR] [1622663296.721143000] []: Caught exception in callback for transition 10
[bt_navigator-12] [ERROR] [1622663296.721190600] []: Original error: Address already in use
[bt_navigator-12] [WARN] [1622663296.721239400] []: Error occurred while doing error handling.
[bt_navigator-12] [FATAL] [1622663296.721258700] [robot1.bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-14] [ERROR] [1622663296.722826500] [robot1.lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-14] [ERROR] [1622663296.722865600] [robot1.lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
- When selecting the goal for this robot, the following error occurs (line 703 in the attached file):
[rviz2-4] [ERROR] [1622663305.191578000] [robot1.rviz2]: Goal was rejected by server
Additional information
The terminal output is attached here:
log_multi_tb3_sim.txt