Exception being thrown: failed to initialize rcl node: Logger already initialized for node #375
Description
Bug report
Required Info:
-
Operating System:
- Ubuntu 18.04
-
Installation type:
- source
-
Version or commit hash:
- c6788e4
master latest after "Publish logs to Rosout (Publish logs to Rosout #350)"
- c6788e4
-
DDS implementation:
- Default - FastRTPS
-
Client library (if applicable):
- rclcpp
Steps to reproduce issue
Install navigation2
ros2 launch nav2_bringup nav2_bringup_1st_launch.py map:=<path/to/map>
Expected behavior
Should launch fine without issue.
Actual behavior
Exception occurs, and crashes amcl node:
ros2 launch nav2_bringup nav2_bringup_1st_launch.py map:=/home/mkhansen/ros2_dev/navigation2_ws/src/navigation2/nav2_system_tests/maps/map_circular.yaml
[INFO] [launch]: process[amcl-1]: started with pid [14806]
[INFO] [amcl]: Initializing AMCL
[INFO] [amcl]: Sensor model type is: "likelihood_field"
[INFO] [amcl]: Robot motion model is differential
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
what(): failed to initialize rcl node: Logger already initialized for node., at /home/mkhansen/ros2_dev/ros2_ws/src/ros2/rcl/rcl/src/rcl/logging_rosout.c:156
[ERROR] [launch]: process[amcl-1] process has died [pid 14806, exit code -6, cmd '/home/mkhansen/ros2_dev/navigation2_ws/install/nav2_amcl/lib/nav2_amcl/amcl __node:=amcl'].
Additional information
SO, the launch file by default has this for the amcl portion:
launch_ros.actions.Node(
package='nav2_amcl',
node_executable='amcl',
node_name='amcl',
output='screen'),
parameters=[{ 'use_sim_time': use_sim_time}]),
When I comment out these 2 lines, setting the node_name and parameters, it works fine, but use_sim_time isn't set (which is needed).
launch_ros.actions.Node(
package='nav2_amcl',
node_executable='amcl',
# node_name='amcl',
output='screen'),
# parameters=[{ 'use_sim_time': use_sim_time}]),
I suspect the issue has something to do with the node_name field, but I don't know exactly what the issue is because I use nearly the same syntax for map_server in the same launch file and it works fine:
launch_ros.actions.Node(
package='nav2_map_server',
node_executable='map_server',
node_name='map_server',
output='screen',
parameters=[{ 'use_sim_time': use_sim_time}, { 'yaml_filename': map_yaml_file }]),
The only difference there being the use of a yaml file for a second parameter in the list.
This only recently stopped working (last week), and it coincided with #350, and the message was added in that PR, so it has to be related. I'm just not sure what the PR added and why having the node name and parameters makes it fail. I see the failure occurs here:
logging_rosout.c:156
Please help to understand why I'm hitting this error.