ros2 run nav2_map_server costmap_filter_info_server

ros2 service call /costmap_filter_info_server/change_state lifecycle_msgs/srv/ChangeState "transition: {id: 1}" # Config
ros2 service call /costmap_filter_info_server/change_state lifecycle_msgs/srv/ChangeState "transition: {id: 3}" # Activate
ros2 service call /costmap_filter_info_server/change_state lifecycle_msgs/srv/ChangeState "transition: {id: 4}" # Deactivate
ros2 service call /costmap_filter_info_server/change_state lifecycle_msgs/srv/ChangeState "transition: {id: 3}" # Activate

:~$ ros2 run nav2_map_server costmap_filter_info_server 
[INFO] [1668772096.580942161] [costmap_filter_info_server]: This is costmap filter info publisher
[INFO] [1668772096.590525225] [costmap_filter_info_server]: 
	costmap_filter_info_server lifecycle node launched. 
	Waiting on external lifecycle transitions to activate
	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1668772098.766254821] [costmap_filter_info_server]: Configuring
[INFO] [1668772102.599998211] [costmap_filter_info_server]: Activating
[INFO] [1668772102.600045231] [costmap_filter_info_server]: Creating bond (costmap_filter_info_server) to lifecycle manager.
[INFO] [1668772135.501066577] [costmap_filter_info_server]: Deactivating
[INFO] [1668772135.501103582] [costmap_filter_info_server]: Destroying bond (costmap_filter_info_server) to lifecycle manager.
[INFO] [1668772137.492469271] [costmap_filter_info_server]: Activating

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'timer is canceled, at ./src/rcl/timer.c:249'

with this new error message:

  'ros_message argument is null, at ./src/rcl/publisher.c:247'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1668772137.493031231] []: Caught exception in callback for transition 13
[ERROR] [1668772137.493044688] []: Original error: failed to publish message: ros_message argument is null, at ./src/rcl/publisher.c:247
[WARN] [1668772137.493067716] []: Error occurred while doing error handling.
[FATAL] [1668772137.493076499] [costmap_filter_info_server]: Lifecycle node costmap_filter_info_server does not have error state implemented