Node '/local_costmap/local_costmap' has already been added to an executor #3629
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- ROS2 Version:
- Humble binaries
- Version or commit hash:
- DDS implementation:
- cyclone dds
Steps to reproduce issue
In the navigation launch file, the controller server was executed by lifecycle manager.
lifecycle_nodes = ['controller_server',
'smoother_server',
'planner_server',
'behavior_server',
'bt_navigator',
'waypoint_follower',
'velocity_smoother']In previous commit versions, localcostmap worked without any problems, but after pulling to the latest version, the following problems occurred.
[controller_server-15] terminate called after throwing an instance of 'std::runtime_error'
[controller_server-15] what(): Node '/local_costmap/local_costmap' has already been added to an executor.
...
[ERROR] [controller_server-15]: process has died [pid 127358, exit code -6, cmd '/home/dujeong/nav2_ws/install/nav2_controller/lib/nav2_controller/controller_server --ros-args -r __node:=controller_server -r __ns:=/ --params-file /tmp/tmp_9cg6p6n -r cmd_vel:=cmd_vel_nav -r /tf:=tf -r /tf_static:=tf_static'].When searching for costmap-related nodes as follows when starting the system, it was confirmed that two /local_costmap/local_costmap nodes were created with the same name and then changed to one.
$ ros2 node list|grep cost
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/global_costmap/global_costmap
/local_costmap/local_costmap
/local_costmap/local_costmap
$ ros2 node list|grep cost
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/global_costmap/global_costmap
/local_costmap/local_costmap
After that, the costmap topic will not come out, and the robot will not be able to drive.