Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Galactic
• Version or commit hash:
  • 1.0.12-1focal.20221208.082109
• DDS implementation:
  • Cyclone DDS

Steps to reproduce issue

Activate the controller server without providing the transformation from robot_base_frame to global_frame

Expected behavior

The transition from configured to active fails

Actual behavior

The transitions blocks indefinitely

Additional information

In the costmaps on_activate method it is waited indefinitely for the transform from robot_base_frame to global_frame to become available. In my opinion a behavior where nav2_util::CallbackReturn::FAILURE is returned after some timeout would make more sense.