[INFO] [launch]: All log files can be found below /home/harun/.ros/log/2021-12-18-14-19-14-939471-harun-ubuntu-3920
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [3925]
[INFO] [gzclient -2]: process started with pid [3927]
[INFO] [robot_state_publisher-3]: process started with pid [3930]
[INFO] [spawn_entity.py-4]: process started with pid [3933]
[INFO] [robot_pose-5]: process started with pid [3935]
[INFO] [robot_state_publisher-6]: process started with pid [3937]
[INFO] [spawn_entity.py-7]: process started with pid [3939]
[INFO] [robot_pose-8]: process started with pid [3941]
[INFO] [globalTF-9]: process started with pid [3943]
[INFO] [map_server-10]: process started with pid [3945]
[INFO] [amcl-11]: process started with pid [3947]
[INFO] [lifecycle_manager-12]: process started with pid [3949]
[INFO] [controller_server-13]: process started with pid [3951]
[INFO] [planner_server-14]: process started with pid [3953]
[INFO] [recoveries_server-15]: process started with pid [3956]
[INFO] [bt_navigator-16]: process started with pid [3958]
[INFO] [waypoint_follower-17]: process started with pid [3962]
[INFO] [lifecycle_manager-18]: process started with pid [3964]
[INFO] [rviz2-19]: process started with pid [3966]
[INFO] [map_server-20]: process started with pid [3968]
[INFO] [amcl-21]: process started with pid [3980]
[INFO] [lifecycle_manager-22]: process started with pid [3988]
[INFO] [controller_server-23]: process started with pid [3993]
[INFO] [planner_server-24]: process started with pid [4141]
[INFO] [recoveries_server-25]: process started with pid [4149]
[INFO] [bt_navigator-26]: process started with pid [4152]
[INFO] [waypoint_follower-27]: process started with pid [4155]
[INFO] [lifecycle_manager-28]: process started with pid [4168]
[INFO] [rviz2-29]: process started with pid [4209]
[map_server-10] [INFO] [map_io]: Loading yaml file: /home/harun/AuNa/install/car_simulator/share/car_simulator/maps/racetrack_decorated/map.yaml
[map_server-10] [DEBUG] [map_io]: resolution: 0.05
[map_server-10] [DEBUG] [map_io]: origin[0]: -19.2
[map_server-10] [DEBUG] [map_io]: origin[1]: -1.08
[map_server-10] [DEBUG] [map_io]: origin[2]: 0
[map_server-10] [DEBUG] [map_io]: free_thresh: 0.25
[map_server-10] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-10] [DEBUG] [map_io]: mode: trinary
[map_server-10] [DEBUG] [map_io]: negate: 0
[map_server-10] [INFO] [map_io]: Loading image_file: /home/harun/AuNa/install/car_simulator/share/car_simulator/maps/racetrack_decorated/map.pgm
[map_server-10] [DEBUG] [map_io]: Read map /home/harun/AuNa/install/car_simulator/share/car_simulator/maps/racetrack_decorated/map.pgm: 632 X 350 map @ 0.05 m/cell
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link robot0/chassis had 8 children
[robot_state_publisher-3] Link robot0/camera had 0 children
[robot_state_publisher-3] Link robot0/imu_link had 0 children
[robot_state_publisher-3] Link robot0/laser had 0 children
[robot_state_publisher-3] Link robot0/left_steering had 1 children
[robot_state_publisher-3] Link robot0/left_wheel_front had 0 children
[robot_state_publisher-3] Link robot0/left_wheel_back had 0 children
[robot_state_publisher-3] Link robot0/right_steering had 1 children
[robot_state_publisher-3] Link robot0/right_wheel_front had 0 children
[robot_state_publisher-3] Link robot0/right_wheel_back had 0 children
[robot_state_publisher-3] Link robot0/steering_wheel had 0 children
[robot_state_publisher-3] [INFO] [1639833555.814245178] [robot0.robot_state_publisher]: got segment robot0/base_link
[robot_state_publisher-3] [INFO] [1639833555.814284986] [robot0.robot_state_publisher]: got segment robot0/camera
[robot_state_publisher-3] [INFO] [1639833555.814291887] [robot0.robot_state_publisher]: got segment robot0/chassis
[robot_state_publisher-3] [INFO] [1639833555.814296858] [robot0.robot_state_publisher]: got segment robot0/imu_link
[robot_state_publisher-3] [INFO] [1639833555.814301559] [robot0.robot_state_publisher]: got segment robot0/laser
[robot_state_publisher-3] [INFO] [1639833555.814306350] [robot0.robot_state_publisher]: got segment robot0/left_steering
[robot_state_publisher-3] [INFO] [1639833555.814311091] [robot0.robot_state_publisher]: got segment robot0/left_wheel_back
[robot_state_publisher-3] [INFO] [1639833555.814315821] [robot0.robot_state_publisher]: got segment robot0/left_wheel_front
[robot_state_publisher-3] [INFO] [1639833555.814320862] [robot0.robot_state_publisher]: got segment robot0/right_steering
[robot_state_publisher-3] [INFO] [1639833555.814325733] [robot0.robot_state_publisher]: got segment robot0/right_wheel_back
[robot_state_publisher-3] [INFO] [1639833555.814330384] [robot0.robot_state_publisher]: got segment robot0/right_wheel_front
[robot_state_publisher-3] [INFO] [1639833555.814334875] [robot0.robot_state_publisher]: got segment robot0/steering_wheel
[robot_state_publisher-6] Parsing robot urdf xml string.
[robot_state_publisher-6] Link robot1/chassis had 8 children
[robot_state_publisher-6] Link robot1/camera had 0 children
[robot_state_publisher-6] Link robot1/imu_link had 0 children
[robot_state_publisher-6] Link robot1/laser had 0 children
[robot_state_publisher-6] Link robot1/left_steering had 1 children
[robot_state_publisher-6] Link robot1/left_wheel_front had 0 children
[robot_state_publisher-6] Link robot1/left_wheel_back had 0 children
[robot_state_publisher-6] Link robot1/right_steering had 1 children
[robot_state_publisher-6] Link robot1/right_wheel_front had 0 children
[robot_state_publisher-6] Link robot1/right_wheel_back had 0 children
[robot_state_publisher-6] Link robot1/steering_wheel had 0 children
[robot_state_publisher-6] [INFO] [1639833555.812736880] [robot1.robot_state_publisher]: got segment robot1/base_link
[robot_state_publisher-6] [INFO] [1639833555.812791120] [robot1.robot_state_publisher]: got segment robot1/camera
[robot_state_publisher-6] [INFO] [1639833555.812801162] [robot1.robot_state_publisher]: got segment robot1/chassis
[robot_state_publisher-6] [INFO] [1639833555.812807433] [robot1.robot_state_publisher]: got segment robot1/imu_link
[robot_state_publisher-6] [INFO] [1639833555.812813394] [robot1.robot_state_publisher]: got segment robot1/laser
[robot_state_publisher-6] [INFO] [1639833555.812819315] [robot1.robot_state_publisher]: got segment robot1/left_steering
[robot_state_publisher-6] [INFO] [1639833555.812825576] [robot1.robot_state_publisher]: got segment robot1/left_wheel_back
[robot_state_publisher-6] [INFO] [1639833555.812831607] [robot1.robot_state_publisher]: got segment robot1/left_wheel_front
[robot_state_publisher-6] [INFO] [1639833555.812837549] [robot1.robot_state_publisher]: got segment robot1/right_steering
[robot_state_publisher-6] [INFO] [1639833555.812843630] [robot1.robot_state_publisher]: got segment robot1/right_wheel_back
[robot_state_publisher-6] [INFO] [1639833555.812849631] [robot1.robot_state_publisher]: got segment robot1/right_wheel_front
[robot_state_publisher-6] [INFO] [1639833555.812855382] [robot1.robot_state_publisher]: got segment robot1/steering_wheel
[map_server-10] [INFO] [1639833555.818610224] [robot0.map_server]:
[map_server-10] map_server lifecycle node launched.
[map_server-10] Waiting on external lifecycle transitions to activate
[map_server-10] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-10] [INFO] [1639833555.819300322] [robot0.map_server]: Creating
[map_server-10] [INFO] [1639833555.819715858] [robot0.map_server]: Configuring
[map_server-10] [INFO] [1639833555.857765211] [robot0.map_server]: Activating
[amcl-11] [INFO] [1639833555.821286988] [robot0.amcl]:
[amcl-11] amcl lifecycle node launched.
[amcl-11] Waiting on external lifecycle transitions to activate
[amcl-11] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-11] [INFO] [1639833555.821346950] [robot0.amcl]: Creating
[amcl-11] [INFO] [1639833555.847498586] [robot0.amcl]: Configuring
[amcl-11] [INFO] [1639833555.847578781] [robot0.amcl]: initTransforms
[amcl-11] [INFO] [1639833555.854225198] [robot0.amcl]: initPubSub
[amcl-11] [INFO] [1639833555.855611664] [robot0.amcl]: Subscribed to map topic.
[amcl-11] [INFO] [1639833555.858973214] [robot0.amcl]: Activating
[amcl-11] [WARN] [1639833555.858989627] [robot0.amcl]: Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, will be published as nav2_msgs/ParticleCloud in the future
[amcl-11] [INFO] [1639833555.859002140] [robot0.amcl]: initialPoseReceived
[amcl-11] [INFO] [1639833555.859112210] [robot0.amcl]: Setting pose (0.000000): 0.000 0.000 0.000
[amcl-11] [INFO] [1639833555.863236842] [robot0.amcl]: Received a 632 X 350 map @ 0.050 m/pix
[lifecycle_manager-12] [INFO] [1639833555.811000269] [robot0.lifecycle_manager_localization]: Creating
[lifecycle_manager-12] [INFO] [1639833555.812712755] [robot0.lifecycle_manager_localization]: [34m[1mCreating and initializing lifecycle service clients[0m[0m
[lifecycle_manager-12] [INFO] [1639833555.813423077] [robot0.lifecycle_manager_localization]: [34m[1mStarting managed nodes bringup...[0m[0m
[lifecycle_manager-12] [INFO] [1639833555.813437929] [robot0.lifecycle_manager_localization]: [34m[1mConfiguring map_server[0m[0m
[lifecycle_manager-12] [INFO] [1639833555.847233057] [robot0.lifecycle_manager_localization]: [34m[1mConfiguring amcl[0m[0m
[lifecycle_manager-12] [INFO] [1639833555.857513675] [robot0.lifecycle_manager_localization]: [34m[1mActivating map_server[0m[0m
[lifecycle_manager-12] [INFO] [1639833555.858859113] [robot0.lifecycle_manager_localization]: [34m[1mActivating amcl[0m[0m
[lifecycle_manager-12] [INFO] [1639833555.860033770] [robot0.lifecycle_manager_localization]: [34m[1mManaged nodes are active[0m[0m
[controller_server-13] [INFO] [1639833555.821175028] [robot0.controller_server]:
[controller_server-13] controller_server lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1639833555.822786785] [robot0.controller_server]: Creating controller server
[controller_server-13] [INFO] [1639833555.844976400] [robot0.local_costmap.local_costmap]:
[controller_server-13] local_costmap lifecycle node launched.
[controller_server-13] Waiting on external lifecycle transitions to activate
[controller_server-13] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-13] [INFO] [1639833555.845228187] [robot0.local_costmap.local_costmap]: Creating Costmap
[controller_server-13] [INFO] [1639833555.851822954] [robot0.controller_server]: Configuring controller interface
[controller_server-13] [INFO] [1639833555.852178450] [robot0.controller_server]: Controller frequency set to 20.0000Hz
[controller_server-13] [INFO] [1639833555.852200574] [robot0.local_costmap.local_costmap]: Configuring
[controller_server-13] [INFO] [1639833555.854648316] [robot0.local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-13] [INFO] [1639833555.857135445] [robot0.local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-13] [INFO] [1639833555.860294858] [robot0.local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-13] [INFO] [1639833555.860311081] [robot0.local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-13] [INFO] [1639833555.860854082] [robot0.local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-13] [INFO] [1639833555.865472524] [robot0.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-13] [INFO] [1639833555.866178215] [robot0.controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-13] [INFO] [1639833555.868543721] [robot0.controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[planner_server-14] [INFO] [1639833555.822378220] [robot0.planner_server]:
[planner_server-14] planner_server lifecycle node launched.
[planner_server-14] Waiting on external lifecycle transitions to activate
[planner_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-14] [INFO] [1639833555.823242349] [robot0.planner_server]: Creating
[planner_server-14] [INFO] [1639833555.828012030] [robot0.global_costmap.global_costmap]:
[planner_server-14] global_costmap lifecycle node launched.
[planner_server-14] Waiting on external lifecycle transitions to activate
[planner_server-14] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-14] [INFO] [1639833555.828258115] [robot0.global_costmap.global_costmap]: Creating Costmap
[recoveries_server-15] [INFO] [1639833555.820991894] [robot0.recoveries_server]:
[recoveries_server-15] recoveries_server lifecycle node launched.
[recoveries_server-15] Waiting on external lifecycle transitions to activate
[recoveries_server-15] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-16] [INFO] [1639833555.819837221] [robot0.bt_navigator]:
[bt_navigator-16] bt_navigator lifecycle node launched.
[bt_navigator-16] Waiting on external lifecycle transitions to activate
[bt_navigator-16] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-16] [INFO] [1639833555.819885630] [robot0.bt_navigator]: Creating
[waypoint_follower-17] [INFO] [1639833555.820831564] [robot0.waypoint_follower]:
[waypoint_follower-17] waypoint_follower lifecycle node launched.
[waypoint_follower-17] Waiting on external lifecycle transitions to activate
[waypoint_follower-17] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-17] [INFO] [1639833555.820888565] [robot0.waypoint_follower]: Creating
[lifecycle_manager-18] [INFO] [1639833555.820743378] [robot0.lifecycle_manager_navigation]: Creating
[lifecycle_manager-18] [INFO] [1639833555.823797732] [robot0.lifecycle_manager_navigation]: [34m[1mCreating and initializing lifecycle service clients[0m[0m
[lifecycle_manager-18] [INFO] [1639833555.826109939] [robot0.lifecycle_manager_navigation]: [34m[1mStarting managed nodes bringup...[0m[0m
[lifecycle_manager-18] [INFO] [1639833555.826128562] [robot0.lifecycle_manager_navigation]: [34m[1mConfiguring controller_server[0m[0m
[map_server-20] [INFO] [1639833555.819779390] [robot1.map_server]:
[map_server-20] map_server lifecycle node launched.
[map_server-20] Waiting on external lifecycle transitions to activate
[map_server-20] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-20] [INFO] [1639833555.819828709] [robot1.map_server]: Creating
[amcl-21] [INFO] [1639833555.824100668] [robot1.amcl]:
[amcl-21] amcl lifecycle node launched.
[amcl-21] Waiting on external lifecycle transitions to activate
[amcl-21] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[amcl-21] [INFO] [1639833555.824160159] [robot1.amcl]: Creating
[lifecycle_manager-22] [INFO] [1639833555.818688909] [robot1.lifecycle_manager_localization]: Creating
[lifecycle_manager-22] [INFO] [1639833555.820576407] [robot1.lifecycle_manager_localization]: [34m[1mCreating and initializing lifecycle service clients[0m[0m
[lifecycle_manager-22] [INFO] [1639833555.821148983] [robot1.lifecycle_manager_localization]: [34m[1mStarting managed nodes bringup...[0m[0m
[lifecycle_manager-22] [INFO] [1639833555.821165916] [robot1.lifecycle_manager_localization]: [34m[1mConfiguring map_server[0m[0m
[controller_server-23] [INFO] [1639833555.825719507] [robot1.controller_server]:
[controller_server-23] controller_server lifecycle node launched.
[controller_server-23] Waiting on external lifecycle transitions to activate
[controller_server-23] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-23] [INFO] [1639833555.827411429] [robot1.controller_server]: Creating controller server
[controller_server-23] [INFO] [1639833555.830514182] [robot1.local_costmap.local_costmap]:
[controller_server-23] local_costmap lifecycle node launched.
[controller_server-23] Waiting on external lifecycle transitions to activate
[controller_server-23] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-23] [INFO] [1639833555.830738983] [robot1.local_costmap.local_costmap]: Creating Costmap
[planner_server-24] [INFO] [1639833555.850257705] [robot1.planner_server]:
[planner_server-24] planner_server lifecycle node launched.
[planner_server-24] Waiting on external lifecycle transitions to activate
[planner_server-24] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-24] [INFO] [1639833555.850939311] [robot1.planner_server]: Creating
[planner_server-24] [INFO] [1639833555.853944006] [robot1.global_costmap.global_costmap]:
[planner_server-24] global_costmap lifecycle node launched.
[planner_server-24] Waiting on external lifecycle transitions to activate
[planner_server-24] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-24] [INFO] [1639833555.854167667] [robot1.global_costmap.global_costmap]: Creating Costmap
[recoveries_server-25] [INFO] [1639833555.859991722] [robot1.recoveries_server]:
[recoveries_server-25] recoveries_server lifecycle node launched.
[recoveries_server-25] Waiting on external lifecycle transitions to activate
[recoveries_server-25] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-26] [INFO] [1639833555.853721885] [robot1.bt_navigator]:
[bt_navigator-26] bt_navigator lifecycle node launched.
[bt_navigator-26] Waiting on external lifecycle transitions to activate
[bt_navigator-26] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-26] [INFO] [1639833555.853781366] [robot1.bt_navigator]: Creating
[waypoint_follower-27] [INFO] [1639833555.858249061] [robot1.waypoint_follower]:
[waypoint_follower-27] waypoint_follower lifecycle node launched.
[waypoint_follower-27] Waiting on external lifecycle transitions to activate
[waypoint_follower-27] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-27] [INFO] [1639833555.858319064] [robot1.waypoint_follower]: Creating
[lifecycle_manager-28] [INFO] [1639833555.853398745] [robot1.lifecycle_manager_navigation]: Creating
[lifecycle_manager-28] [INFO] [1639833555.858103274] [robot1.lifecycle_manager_navigation]: [34m[1mCreating and initializing lifecycle service clients[0m[0m
[lifecycle_manager-28] [INFO] [1639833555.865188002] [robot1.lifecycle_manager_navigation]: [34m[1mStarting managed nodes bringup...[0m[0m
[lifecycle_manager-28] [INFO] [1639833555.865264516] [robot1.lifecycle_manager_navigation]: [34m[1mConfiguring controller_server[0m[0m
[controller_server-13] [INFO] [1639833555.869875017] [robot0.controller_server]: Setting transform_tolerance to 0.200000
[map_server-20] [INFO] [1639833555.871603026] [robot1.map_server]: Configuring
[map_server-20] [INFO] [map_io]: Loading yaml file: /home/harun/AuNa/install/car_simulator/share/car_simulator/maps/racetrack_decorated/map.yaml
[map_server-20] [DEBUG] [map_io]: resolution: 0.05
[map_server-20] [DEBUG] [map_io]: origin[0]: -19.2
[map_server-20] [DEBUG] [map_io]: origin[1]: -1.08
[map_server-20] [DEBUG] [map_io]: origin[2]: 0
[map_server-20] [DEBUG] [map_io]: free_thresh: 0.25
[map_server-20] [DEBUG] [map_io]: occupied_thresh: 0.65
[map_server-20] [DEBUG] [map_io]: mode: trinary
[map_server-20] [DEBUG] [map_io]: negate: 0
[map_server-20] [INFO] [map_io]: Loading image_file: /home/harun/AuNa/install/car_simulator/share/car_simulator/maps/racetrack_decorated/map.pgm
[controller_server-13] [INFO] [1639833555.880241269] [robot0.controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-13] [INFO] [1639833555.880958412] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.881083715] [robot0.controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-13] [INFO] [1639833555.881695158] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.881850266] [robot0.controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-13] [INFO] [1639833555.882109904] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.882235567] [robot0.controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-13] [INFO] [1639833555.882594094] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.882741181] [robot0.controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-13] [INFO] [1639833555.883048037] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.883182112] [robot0.controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-13] [INFO] [1639833555.883368857] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.883484128] [robot0.controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-13] [INFO] [1639833555.883704048] [robot0.controller_server]: Critic plugin initialized
[controller_server-13] [INFO] [1639833555.883719211] [robot0.controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-18] [INFO] [1639833555.885824710] [robot0.lifecycle_manager_navigation]: [34m[1mConfiguring planner_server[0m[0m
[controller_server-23] [INFO] [1639833555.885838503] [robot1.controller_server]: Configuring controller interface
[planner_server-14] [INFO] [1639833555.886020116] [robot0.planner_server]: Configuring
[planner_server-14] [INFO] [1639833555.886044901] [robot0.global_costmap.global_costmap]: Configuring
[controller_server-23] [INFO] [1639833555.886141869] [robot1.controller_server]: Controller frequency set to 20.0000Hz
[controller_server-23] [INFO] [1639833555.886164673] [robot1.local_costmap.local_costmap]: Configuring
[controller_server-23] [INFO] [1639833555.887714279] [robot1.local_costmap.local_costmap]: Using plugin "voxel_layer"
[planner_server-14] [INFO] [1639833555.887792143] [robot0.global_costmap.global_costmap]: Using plugin "static_layer"
[controller_server-23] [INFO] [1639833555.890026206] [robot1.local_costmap.local_costmap]: Subscribed to Topics: scan
[planner_server-14] [INFO] [1639833555.892146037] [robot0.global_costmap.global_costmap]: Subscribing to the map topic (/robot0/map) with transient local durability
[planner_server-14] [INFO] [1639833555.892528738] [robot0.global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-14] [INFO] [1639833555.892545011] [robot0.global_costmap.global_costmap]: Using plugin "obstacle_layer"
[map_server-20] [DEBUG] [map_io]: Read map /home/harun/AuNa/install/car_simulator/share/car_simulator/maps/racetrack_decorated/map.pgm: 632 X 350 map @ 0.05 m/cell
[planner_server-14] [INFO] [1639833555.892946825] [robot0.global_costmap.global_costmap]: Subscribed to Topics: scan
[lifecycle_manager-22] [INFO] [1639833555.895430193] [robot1.lifecycle_manager_localization]: [34m[1mConfiguring amcl[0m[0m
[planner_server-14] [INFO] [1639833555.895435804] [robot0.global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-14] [INFO] [1639833555.895499166] [robot0.global_costmap.global_costmap]: Using plugin "inflation_layer"
[amcl-21] [INFO] [1639833555.895651334] [robot1.amcl]: Configuring
[amcl-21] [INFO] [1639833555.895721057] [robot1.amcl]: initTransforms
[controller_server-23] [INFO] [1639833555.896236262] [robot1.local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-23] [INFO] [1639833555.896253665] [robot1.local_costmap.local_costmap]: Using plugin "inflation_layer"
[planner_server-14] [INFO] [1639833555.896581566] [robot0.global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[controller_server-23] [INFO] [1639833555.897193769] [robot1.local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[amcl-21] [INFO] [1639833555.897661795] [robot1.amcl]: initPubSub
[amcl-21] [INFO] [1639833555.898766149] [robot1.amcl]: Subscribed to map topic.
[planner_server-14] [INFO] [1639833555.900568742] [robot0.planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-14] [INFO] [1639833555.900594157] [robot0.planner_server]: Configuring plugin GridBased of type NavfnPlanner
[controller_server-23] [INFO] [1639833555.901514597] [robot1.controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-23] [INFO] [1639833555.902523153] [robot1.controller_server]: Created goal_checker : goal_checker of type nav2_controller::SimpleGoalChecker
[planner_server-14] [INFO] [1639833555.903498873] [robot0.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 632 X 350 at 0.050000 m/pix
[planner_server-14] [INFO] [1639833555.904047224] [robot0.planner_server]: Planner Server has GridBased planners available.
[controller_server-23] [INFO] [1639833555.904360132] [robot1.controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[lifecycle_manager-22] [INFO] [1639833555.905505403] [robot1.lifecycle_manager_localization]: [34m[1mActivating map_server[0m[0m
[map_server-20] [INFO] [1639833555.905697929] [robot1.map_server]: Activating
[amcl-21] [INFO] [1639833555.906130459] [robot1.amcl]: Received a 632 X 350 map @ 0.050 m/pix
[lifecycle_manager-22] [INFO] [1639833555.906267274] [robot1.lifecycle_manager_localization]: [34m[1mActivating amcl[0m[0m
[controller_server-23] [INFO] [1639833555.906360171] [robot1.controller_server]: Setting transform_tolerance to 0.200000
[lifecycle_manager-18] [INFO] [1639833555.906881277] [robot0.lifecycle_manager_navigation]: [34m[1mConfiguring recoveries_server[0m[0m
[recoveries_server-15] [INFO] [1639833555.907052019] [robot0.recoveries_server]: Configuring
[amcl-21] [INFO] [1639833555.909331649] [robot1.amcl]: Activating
[amcl-21] [WARN] [1639833555.909352023] [robot1.amcl]: Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, will be published as nav2_msgs/ParticleCloud in the future
[amcl-21] [INFO] [1639833555.909366315] [robot1.amcl]: initialPoseReceived
[amcl-21] [INFO] [1639833555.909462443] [robot1.amcl]: Setting pose (0.000000): -1.000 0.000 0.000
[recoveries_server-15] [INFO] [1639833555.909634935] [robot0.recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[lifecycle_manager-22] [INFO] [1639833555.910145279] [robot1.lifecycle_manager_localization]: [34m[1mManaged nodes are active[0m[0m
[recoveries_server-15] [INFO] [1639833555.910153310] [robot0.recoveries_server]: Configuring spin
[recoveries_server-15] [INFO] [1639833555.911338849] [robot0.recoveries_server]: Creating recovery plugin back_up of type nav2_recoveries/BackUp
[recoveries_server-15] [INFO] [1639833555.911835540] [robot0.recoveries_server]: Configuring back_up
[recoveries_server-15] [INFO] [1639833555.913253562] [robot0.recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-15] [INFO] [1639833555.913980816] [robot0.recoveries_server]: Configuring wait
[controller_server-23] [INFO] [1639833555.916785674] [robot1.controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[lifecycle_manager-18] [INFO] [1639833555.916815250] [robot0.lifecycle_manager_navigation]: [34m[1mConfiguring bt_navigator[0m[0m
[bt_navigator-16] [INFO] [1639833555.917005485] [robot0.bt_navigator]: Configuring
[controller_server-23] [INFO] [1639833555.918110569] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.918242793] [robot1.controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-23] [INFO] [1639833555.918627314] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.918720751] [robot1.controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-23] [INFO] [1639833555.918871039] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.918960776] [robot1.controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-23] [INFO] [1639833555.919272253] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.919385014] [robot1.controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-23] [INFO] [1639833555.919647253] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.919767935] [robot1.controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-23] [INFO] [1639833555.919877665] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.919934286] [robot1.controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-23] [INFO] [1639833555.920047806] [robot1.controller_server]: Critic plugin initialized
[controller_server-23] [INFO] [1639833555.920060849] [robot1.controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-28] [INFO] [1639833555.922689394] [robot1.lifecycle_manager_navigation]: [34m[1mConfiguring planner_server[0m[0m
[planner_server-24] [INFO] [1639833555.922845343] [robot1.planner_server]: Configuring
[planner_server-24] [INFO] [1639833555.922869067] [robot1.global_costmap.global_costmap]: Configuring
[planner_server-24] [INFO] [1639833555.925518547] [robot1.global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-24] [INFO] [1639833555.927843106] [robot1.global_costmap.global_costmap]: Subscribing to the map topic (/robot1/map) with transient local durability
[planner_server-24] [INFO] [1639833555.928232178] [robot1.global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-24] [INFO] [1639833555.928246300] [robot1.global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-24] [INFO] [1639833555.929147587] [robot1.global_costmap.global_costmap]: Subscribed to Topics: scan
[bt_navigator-16] [INFO] [1639833555.931460754] [robot0.bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-16] [INFO] [1639833555.931784373] [robot0.bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-16] [INFO] [1639833555.932143940] [robot0.bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-16] [INFO] [1639833555.932189978] [robot0.bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[planner_server-24] [INFO] [1639833555.933384089] [robot1.global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-24] [INFO] [1639833555.933403182] [robot1.global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-24] [INFO] [1639833555.934171444] [robot1.global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[bt_navigator-16] [INFO] [1639833555.934241897] [robot0.bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-16] [INFO] [1639833555.934317941] [robot0.bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-16] [INFO] [1639833555.934628568] [robot0.bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-16] [INFO] [1639833555.934670506] [robot0.bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-16] [INFO] [1639833555.934960070] [robot0.bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-16] [INFO] [1639833555.934998367] [robot0.bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-16] [INFO] [1639833555.935256454] [robot0.bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-16] [INFO] [1639833555.935296582] [robot0.bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-16] [INFO] [1639833555.936782646] [robot0.bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-16] [INFO] [1639833555.936859440] [robot0.bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[planner_server-24] [INFO] [1639833555.937302452] [robot1.planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-24] [INFO] [1639833555.937325056] [robot1.planner_server]: Configuring plugin GridBased of type NavfnPlanner
[bt_navigator-16] [INFO] [1639833555.938633298] [robot0.bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-16] [INFO] [1639833555.938713833] [robot0.bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[planner_server-24] [INFO] [1639833555.939440237] [robot1.global_costmap.global_costmap]: StaticLayer: Resizing costmap to 632 X 350 at 0.050000 m/pix
[lifecycle_manager-18] [INFO] [1639833555.939809385] [robot0.lifecycle_manager_navigation]: [34m[1mConfiguring waypoint_follower[0m[0m
[waypoint_follower-17] [INFO] [1639833555.939988458] [robot0.waypoint_follower]: Configuring
[planner_server-24] [INFO] [1639833555.940108230] [robot1.planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-28] [INFO] [1639833555.942648988] [robot1.lifecycle_manager_navigation]: [34m[1mConfiguring recoveries_server[0m[0m
[recoveries_server-25] [INFO] [1639833555.942779222] [robot1.recoveries_server]: Configuring
[recoveries_server-25] [INFO] [1639833555.945175004] [robot1.recoveries_server]: Creating recovery plugin spin of type nav2_recoveries/Spin
[recoveries_server-25] [INFO] [1639833555.945787637] [robot1.recoveries_server]: Configuring spin
[lifecycle_manager-18] [INFO] [1639833555.946989569] [robot0.lifecycle_manager_navigation]: [34m[1mActivating controller_server[0m[0m
[recoveries_server-25] [INFO] [1639833555.947405165] [robot1.recoveries_server]: Creating recovery plugin back_up of type nav2_recoveries/BackUp
[controller_server-13] [INFO] [1639833555.947885224] [robot0.controller_server]: Activating
[controller_server-13] [INFO] [1639833555.947912809] [robot0.local_costmap.local_costmap]: Activating
[controller_server-13] [INFO] [1639833555.947924811] [robot0.local_costmap.local_costmap]: Checking transform
[controller_server-13] [INFO] [1639833555.947947696] [robot0.local_costmap.local_costmap]: Timed out waiting for transform from robot0/base_link to robot0/odom to become available, tf error: Invalid frame ID "robot0/odom" passed to canTransform argument target_frame - frame does not exist
[recoveries_server-25] [INFO] [1639833555.948088982] [robot1.recoveries_server]: Configuring back_up
[recoveries_server-25] [INFO] [1639833555.949229032] [robot1.recoveries_server]: Creating recovery plugin wait of type nav2_recoveries/Wait
[recoveries_server-25] [INFO] [1639833555.949665403] [robot1.recoveries_server]: Configuring wait
[lifecycle_manager-28] [INFO] [1639833555.951117811] [robot1.lifecycle_manager_navigation]: [34m[1mConfiguring bt_navigator[0m[0m
[bt_navigator-26] [INFO] [1639833555.951273740] [robot1.bt_navigator]: Configuring
[bt_navigator-26] [INFO] [1639833555.964877861] [robot1.bt_navigator_rclcpp_node]: Waiting for "compute_path_to_pose" action server
[bt_navigator-26] [INFO] [1639833555.965041632] [robot1.bt_navigator_rclcpp_node]: "ComputePathToPose" BtActionNode initialized
[bt_navigator-26] [INFO] [1639833555.965336466] [robot1.bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-26] [INFO] [1639833555.965378844] [robot1.bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Context" BtServiceNode initialized
[bt_navigator-26] [INFO] [1639833555.966683315] [robot1.bt_navigator_rclcpp_node]: Waiting for "follow_path" action server
[bt_navigator-26] [INFO] [1639833555.966765600] [robot1.bt_navigator_rclcpp_node]: "FollowPath" BtActionNode initialized
[bt_navigator-26] [INFO] [1639833555.967121145] [robot1.bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-26] [INFO] [1639833555.967182337] [robot1.bt_navigator_rclcpp_node]: "ClearLocalCostmap-Context" BtServiceNode initialized
[bt_navigator-26] [INFO] [1639833555.967605115] [robot1.bt_navigator_rclcpp_node]: Waiting for "local_costmap/clear_entirely_local_costmap" service
[bt_navigator-26] [INFO] [1639833555.967668176] [robot1.bt_navigator_rclcpp_node]: "ClearLocalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-26] [INFO] [1639833555.967924404] [robot1.bt_navigator_rclcpp_node]: Waiting for "global_costmap/clear_entirely_global_costmap" service
[bt_navigator-26] [INFO] [1639833555.967970092] [robot1.bt_navigator_rclcpp_node]: "ClearGlobalCostmap-Subtree" BtServiceNode initialized
[bt_navigator-26] [INFO] [1639833555.969441684] [robot1.bt_navigator_rclcpp_node]: Waiting for "spin" action server
[bt_navigator-26] [INFO] [1639833555.969523209] [robot1.bt_navigator_rclcpp_node]: "Spin" BtActionNode initialized
[bt_navigator-26] [INFO] [1639833555.970984789] [robot1.bt_navigator_rclcpp_node]: Waiting for "wait" action server
[bt_navigator-26] [INFO] [1639833555.971081677] [robot1.bt_navigator_rclcpp_node]: "Wait" BtActionNode initialized
[bt_navigator-26] [ERROR] [1639833555.971595721] []: Caught exception in callback for transition 10
[bt_navigator-26] [ERROR] [1639833555.971603753] []: Original error: Address already in use
[bt_navigator-26] [WARN] [1639833555.971619716] []: Error occurred while doing error handling.
[bt_navigator-26] [FATAL] [1639833555.971624817] [robot1.bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-28] [ERROR] [1639833555.971934414] [robot1.lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-28] [ERROR] [1639833555.971956088] [robot1.lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[spawn_entity.py-7] [INFO] [1639833556.081634972] [robot1.spawn_entity]: Spawn Entity started
[spawn_entity.py-7] [INFO] [1639833556.081844529] [robot1.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-7] [INFO] [1639833556.082789486] [robot1.spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-7] [INFO] [1639833556.085188018] [robot1.spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-7] [INFO] [1639833556.085365430] [robot1.spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1639833556.088497742] [robot0.spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1639833556.088697878] [robot0.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] [INFO] [1639833556.089547948] [robot0.spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1639833556.092534215] [robot0.spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1639833556.092816995] [robot0.spawn_entity]: Waiting for service /spawn_entity
[rviz2-19] [INFO] [1639833556.093070649] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-19] [INFO] [1639833556.093162205] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-29] [INFO] [1639833556.103811882] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-29] [INFO] [1639833556.103869493] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-19] [INFO] [1639833556.110239285] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-29] [INFO] [1639833556.117680938] [rviz2]: Stereo is NOT SUPPORTED
[amcl-11] [WARN] [1639833556.140856043] [robot0.amcl]: New subscription discovered on this topic, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[amcl-21] [WARN] [1639833556.149332699] [robot1.amcl]: New subscription discovered on this topic, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[rviz2-19] [WARN] [1639833556.197948820] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-29] [WARN] [1639833556.199753689] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-19] [WARN] [1639833556.203680631] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-29] [WARN] [1639833556.204488353] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-29] [WARN] [1639833556.208226512] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-19] [WARN] [1639833556.209015751] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-29] [INFO] [1639833556.219140175] [robot1.rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-29] [INFO] [1639833556.219328939] [robot1.rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-29] [INFO] [1639833556.219551218] [robot1.rviz2]: Waiting for the lifecycle_manager_localization/is_active service...
[rviz2-29] [INFO] [1639833556.219591995] [robot1.rviz2]: Sending lifecycle_manager_localization/is_active request
[rviz2-19] [INFO] [1639833556.220415150] [robot0.rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-19] [INFO] [1639833556.220575998] [robot0.rviz2]: Sending lifecycle_manager_navigation/is_active request
[rviz2-29] [INFO] [1639833556.253418650] [rviz2]: Trying to create a map of size 632 x 350 using 1 swatches
[rviz2-19] [INFO] [1639833556.258271826] [rviz2]: Trying to create a map of size 632 x 350 using 1 swatches
[rviz2-29] [ERROR] [1639833556.260552898] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-29] active samplers with a different type refer to the same texture image unit
[rviz2-19] [ERROR] [1639833556.265634253] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
[rviz2-19] active samplers with a different type refer to the same texture image unit
[spawn_entity.py-7] [INFO] [1639833556.337642239] [robot1.spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1639833556.345586760] [robot0.spawn_entity]: Calling service /spawn_entity
[controller_server-13] [INFO] [1639833556.448006157] [robot0.local_costmap.local_costmap]: Timed out waiting for transform from robot0/base_link to robot0/odom to become available, tf error: Invalid frame ID "robot0/odom" passed to canTransform argument target_frame - frame does not exist
[spawn_entity.py-7] [INFO] [1639833556.721007380] [robot1.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robot1]
[gzserver-1] [INFO] [1639833556.839010934] [robot1.ackermann_drive]: Subscribed to [/robot1/cmd_vel]
[gzserver-1] [INFO] [1639833556.839867965] [robot1.ackermann_drive]: Advertise odometry on [/robot1/odom]
[gzserver-1] [INFO] [1639833556.840230769] [robot1.ackermann_drive]: Advertise distance on [/robot1/distance]
[gzserver-1] [INFO] [1639833556.840876903] [robot1.ackermann_drive]: Publishing odom transforms between [robot1/odom] and [robot1/base_link]
[gzserver-1] [INFO] [1639833556.848502488] [robot1.robot_joint_state]: Going to publish joint [left_wheel_front_hinge]
[gzserver-1] [INFO] [1639833556.848543425] [robot1.robot_joint_state]: Going to publish joint [right_wheel_front_hinge]
[gzserver-1] [INFO] [1639833556.848555017] [robot1.robot_joint_state]: Going to publish joint [left_wheel_back_hinge]
[gzserver-1] [INFO] [1639833556.848563649] [robot1.robot_joint_state]: Going to publish joint [right_wheel_back_hinge]
[gzserver-1] [INFO] [1639833556.848571540] [robot1.robot_joint_state]: Going to publish joint [left_steering_hinge]
[gzserver-1] [INFO] [1639833556.848579551] [robot1.robot_joint_state]: Going to publish joint [right_steering_hinge]
[gzserver-1] [INFO] [1639833556.848587903] [robot1.robot_joint_state]: Going to publish joint [steering_wheel_joint]
[amcl-21] [INFO] [1639833556.870108397] [robot1.amcl]: createLaserObject
[controller_server-13] [INFO] [1639833556.947998440] [robot0.local_costmap.local_costmap]: Timed out waiting for transform from robot0/base_link to robot0/odom to become available, tf error: Invalid frame ID "robot0/odom" passed to canTransform argument target_frame - frame does not exist
[INFO] [spawn_entity.py-7]: process has finished cleanly [pid 3939]
[rviz2-19] [INFO] [1639833557.220792850] [robot0.rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-19] [INFO] [1639833557.220994143] [robot0.rviz2]: Sending lifecycle_manager_navigation/is_active request
[spawn_entity.py-4] [INFO] [1639833557.253619583] [robot0.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [robot0]
[gzserver-1] [INFO] [1639833557.360141429] [robot0.ackermann_drive]: Subscribed to [/robot0/cmd_vel]
[gzserver-1] [INFO] [1639833557.360547597] [robot0.ackermann_drive]: Advertise odometry on [/robot0/odom]
[gzserver-1] [INFO] [1639833557.360913219] [robot0.ackermann_drive]: Advertise distance on [/robot0/distance]
[gzserver-1] [INFO] [1639833557.361661085] [robot0.ackermann_drive]: Publishing odom transforms between [robot0/odom] and [robot0/base_link]
[gzserver-1] [INFO] [1639833557.365484209] [robot0.robot_joint_state]: Going to publish joint [left_wheel_front_hinge]
[gzserver-1] [INFO] [1639833557.365512054] [robot0.robot_joint_state]: Going to publish joint [right_wheel_front_hinge]
[gzserver-1] [INFO] [1639833557.365522286] [robot0.robot_joint_state]: Going to publish joint [left_wheel_back_hinge]
[gzserver-1] [INFO] [1639833557.365530867] [robot0.robot_joint_state]: Going to publish joint [right_wheel_back_hinge]
[gzserver-1] [INFO] [1639833557.365538028] [robot0.robot_joint_state]: Going to publish joint [left_steering_hinge]
[gzserver-1] [INFO] [1639833557.365546040] [robot0.robot_joint_state]: Going to publish joint [right_steering_hinge]
[gzserver-1] [INFO] [1639833557.365553761] [robot0.robot_joint_state]: Going to publish joint [steering_wheel_joint]
[controller_server-13] [INFO] [1639833557.448017802] [robot0.local_costmap.local_costmap]: Timed out waiting for transform from robot0/base_link to robot0/odom to become available, tf error: Invalid frame ID "robot0/odom" passed to canTransform argument target_frame - frame does not exist
[robot_pose-5] Warning: Invalid frame ID "robot0/odom" passed to canTransform argument source_frame - frame does not exist
[robot_pose-5] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp
[amcl-11] [INFO] [1639833557.474552994] [robot0.amcl]: createLaserObject
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 3933]
[controller_server-13] [INFO] [1639833557.948090798] [robot0.local_costmap.local_costmap]: start
[rviz2-19] [INFO] [1639833557.950999857] [rviz2]: Trying to create a map of size 60 x 60 using 1 swatches
[lifecycle_manager-18] [INFO] [1639833557.998995349] [robot0.lifecycle_manager_navigation]: [34m[1mActivating planner_server[0m[0m
[planner_server-14] [INFO] [1639833557.999208905] [robot0.planner_server]: Activating
[planner_server-14] [INFO] [1639833557.999244611] [robot0.global_costmap.global_costmap]: Activating
[planner_server-14] [INFO] [1639833557.999261964] [robot0.global_costmap.global_costmap]: Checking transform
[planner_server-14] [INFO] [1639833557.999334947] [robot0.global_costmap.global_costmap]: Timed out waiting for transform from robot0/base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 0.833000 but the earliest data is at time 1.372000, when looking up transform from frame [robot0/base_link] to frame [map]
[rviz2-19] [INFO] [1639833558.221200233] [robot0.rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-19] [INFO] [1639833558.221359809] [robot0.rviz2]: Sending lifecycle_manager_navigation/is_active request
[planner_server-14] [INFO] [1639833558.499354492] [robot0.global_costmap.global_costmap]: Timed out waiting for transform from robot0/base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1.263000 but the earliest data is at time 1.372000, when looking up transform from frame [robot0/base_link] to frame [map]
[planner_server-14] [INFO] [1639833558.999388752] [robot0.global_costmap.global_costmap]: start
[rviz2-19] [INFO] [1639833559.006890934] [rviz2]: Trying to create a map of size 632 x 350 using 1 swatches
[planner_server-14] [INFO] [1639833559.049779141] [robot0.planner_server]: Activating plugin GridBased of type NavfnPlanner
[lifecycle_manager-18] [INFO] [1639833559.050325626] [robot0.lifecycle_manager_navigation]: [34m[1mActivating recoveries_server[0m[0m
[recoveries_server-15] [INFO] [1639833559.050534388] [robot0.recoveries_server]: Activating
[recoveries_server-15] [INFO] [1639833559.050565073] [robot0.recoveries_server]: Activating spin
[recoveries_server-15] [INFO] [1639833559.050577204] [robot0.recoveries_server]: Activating back_up
[recoveries_server-15] [INFO] [1639833559.050587476] [robot0.recoveries_server]: Activating wait
[lifecycle_manager-18] [INFO] [1639833559.050890033] [robot0.lifecycle_manager_navigation]: [34m[1mActivating bt_navigator[0m[0m
[bt_navigator-16] [INFO] [1639833559.051102666] [robot0.bt_navigator]: Activating
[lifecycle_manager-18] [INFO] [1639833559.051473903] [robot0.lifecycle_manager_navigation]: [34m[1mActivating waypoint_follower[0m[0m
[waypoint_follower-17] [INFO] [1639833559.051673144] [robot0.waypoint_follower]: Activating
[lifecycle_manager-18] [INFO] [1639833559.051975530] [robot0.lifecycle_manager_navigation]: [34m[1mManaged nodes are active[0m[0m
[rviz2-19] [INFO] [1639833559.052307481] [robot0.rviz2]: Waiting for the lifecycle_manager_localization/is_active service...
[rviz2-19] [INFO] [1639833559.052456424] [robot0.rviz2]: Sending lifecycle_manager_localization/is_active request
[rviz2-19] Start navigation
[bt_navigator-16] [INFO] [1639833567.478377352] [robot0.bt_navigator]: Begin navigating from current location to (1.77, -0.28)
[controller_server-13] [INFO] [1639833567.499375491] [robot0.controller_server]: Received a goal, begin computing control effort.
[rviz2-19] [INFO] [1639833568.428719437] [robot0.rviz2]: Message Filter dropping message: frame 'robot0/odom' at time 0.724 for reason 'Unknown'
[controller_server-13] [INFO] [1639833568.549607908] [robot0.controller_server]: Passing new path to controller.
[rviz2-19] [INFO] [1639833568.631256531] [robot0.rviz2]: Message Filter dropping message: frame 'robot0/odom' at time 0.899 for reason 'Unknown'
[rviz2-19] [INFO] [1639833568.825194994] [robot0.rviz2]: Message Filter dropping message: frame 'robot0/odom' at time 1.068 for reason 'Unknown'
[amcl-21] [INFO] [1639833568.932457733] [robot1.amcl_rclcpp_node]: Message Filter dropping message: frame 'robot1/base_link' at time 0.165 for reason 'Unknown'
[rviz2-19] [INFO] [1639833569.018552082] [robot0.rviz2]: Message Filter dropping message: frame 'robot0/odom' at time 1.248 for reason 'Unknown'
[amcl-11] [INFO] [1639833569.145175620] [robot0.amcl_rclcpp_node]: Message Filter dropping message: frame 'robot0/base_link' at time 0.353 for reason 'Unknown'
[controller_server-13] [INFO] [1639833569.599611344] [robot0.controller_server]: Passing new path to controller.
[controller_server-13] [INFO] [1639833570.599607786] [robot0.controller_server]: Passing new path to controller.
[controller_server-13] [INFO] [1639833571.649606018] [robot0.controller_server]: Passing new path to controller.
[controller_server-13] [INFO] [1639833572.649607881] [robot0.controller_server]: Passing new path to controller.
[controller_server-13] [INFO] [1639833573.699608308] [robot0.controller_server]: Passing new path to controller.
[controller_server-13] [INFO] [1639833573.701972740] [robot0.controller_server]: Reached the goal!
[bt_navigator-16] [INFO] [1639833573.748945915] [robot0.bt_navigator]: Navigation succeeded
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[amcl-21] [INFO] [1639833576.878874201] [rclcpp]: signal_handler(signal_value=2)
[INFO] [planner_server-14]: process has finished cleanly [pid 3953]
[INFO] [recoveries_server-15]: process has finished cleanly [pid 3956]
[rviz2-19] [INFO] [1639833576.878878372] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-25] [INFO] [1639833576.878866411] [rclcpp]: signal_handler(signal_value=2)
[rviz2-29] [INFO] [1639833576.878866721] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-28] [INFO] [1639833576.878865131] [rclcpp]: signal_handler(signal_value=2)
[controller_server-23] [INFO] [1639833576.878869321] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-27] [INFO] [1639833576.878866651] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-22] [INFO] [1639833576.878870731] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-26] [INFO] [1639833576.878870971] [rclcpp]: signal_handler(signal_value=2)
[planner_server-24] [INFO] [1639833576.878872391] [rclcpp]: signal_handler(signal_value=2)
[map_server-20] [INFO] [1639833576.878879262] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-18] [INFO] [1639833576.878882982] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-15] [INFO] [1639833576.878887562] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-16] [INFO] [1639833576.878885562] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-17] [INFO] [1639833576.878887162] [rclcpp]: signal_handler(signal_value=2)
[controller_server-13] [INFO] [1639833576.878892413] [rclcpp]: signal_handler(signal_value=2)
[planner_server-14] [INFO] [1639833576.878892273] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-12] [INFO] [1639833576.878900154] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-3] [INFO] [1639833576.878916875] [rclcpp]: signal_handler(signal_value=2)
[amcl-11] [INFO] [1639833576.878955668] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-6] [INFO] [1639833576.878963829] [rclcpp]: signal_handler(signal_value=2)
[globalTF-9] [INFO] [1639833576.878930846] [rclcpp]: signal_handler(signal_value=2)
[robot_pose-8] [INFO] [1639833576.878942577] [rclcpp]: signal_handler(signal_value=2)
[robot_pose-5] [INFO] [1639833576.878969190] [rclcpp]: signal_handler(signal_value=2)
[map_server-10] [INFO] [1639833576.879004643] [rclcpp]: signal_handler(signal_value=2)
[map_server-10] [INFO] [1639833576.880319767] [robot0.map_server]: Destroying
[bt_navigator-26] [INFO] [1639833576.880382612] [robot1.bt_navigator]: Destroying
[map_server-20] [INFO] [1639833576.879823814] [robot1.map_server]: Destroying
[lifecycle_manager-12] [INFO] [1639833576.881127687] [robot0.lifecycle_manager_localization]: Destroying
[waypoint_follower-27] [INFO] [1639833576.881751541] [robot1.waypoint_follower]: Destroying
[waypoint_follower-17] [INFO] [1639833576.881781303] [robot0.waypoint_follower]: Destroying
[bt_navigator-16] [INFO] [1639833576.882021494] [robot0.bt_navigator]: Destroying
[lifecycle_manager-18] [INFO] [1639833576.882132514] [robot0.lifecycle_manager_navigation]: Destroying
[lifecycle_manager-28] [INFO] [1639833576.882230392] [robot1.lifecycle_manager_navigation]: Destroying
[amcl-21] [INFO] [1639833576.882237793] [robot1.amcl]: Destroying
[lifecycle_manager-22] [INFO] [1639833576.882340762] [robot1.lifecycle_manager_localization]: Destroying
[amcl-11] [INFO] [1639833576.883673537] [robot0.amcl]: Destroying
[bt_navigator-16] [PublisherZMQ] Server quitting.
[bt_navigator-16] [PublisherZMQ] just died. Exeption Context was terminated
[bt_navigator-16] [PublisherZMQ] Publisher quitting.
[bt_navigator-16] [PublisherZMQ] just died. Exeption Context was terminated
[ERROR] [controller_server-23]: process has died [pid 3993, exit code -11, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args -r __ns:=/robot1 --params-file /tmp/tmp4n1ihhgv -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [recoveries_server-25]: process has died [pid 4149, exit code -11, cmd '/opt/ros/foxy/lib/nav2_recoveries/recoveries_server --ros-args -r __node:=recoveries_server -r __ns:=/robot1 --params-file /tmp/tmpj7fe5ntf -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [controller_server-13]: process has died [pid 3951, exit code -11, cmd '/opt/ros/foxy/lib/nav2_controller/controller_server --ros-args -r __ns:=/robot0 --params-file /tmp/tmpb9pb1zaw -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [planner_server-24]: process has died [pid 4141, exit code -11, cmd '/opt/ros/foxy/lib/nav2_planner/planner_server --ros-args -r __node:=planner_server -r __ns:=/robot1 --params-file /tmp/tmpfz_b9_33 -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [gzclient -2]: process has died [pid 3927, exit code -2, cmd 'gzclient '].
[INFO] [waypoint_follower-27]: process has finished cleanly [pid 4155]
[INFO] [robot_pose-5]: process has finished cleanly [pid 3935]
[INFO] [globalTF-9]: process has finished cleanly [pid 3943]
[INFO] [robot_pose-8]: process has finished cleanly [pid 3941]
[INFO] [map_server-10]: process has finished cleanly [pid 3945]
[INFO] [map_server-20]: process has finished cleanly [pid 3968]
[INFO] [lifecycle_manager-22]: process has finished cleanly [pid 3988]
[INFO] [lifecycle_manager-12]: process has finished cleanly [pid 3949]
[INFO] [lifecycle_manager-18]: process has finished cleanly [pid 3964]
[INFO] [lifecycle_manager-28]: process has finished cleanly [pid 4168]
[INFO] [waypoint_follower-17]: process has finished cleanly [pid 3962]
[INFO] [bt_navigator-16]: process has finished cleanly [pid 3958]
[INFO] [bt_navigator-26]: process has finished cleanly [pid 4152]
[INFO] [rviz2-29]: process has finished cleanly [pid 4209]
[INFO] [rviz2-19]: process has finished cleanly [pid 3966]
[INFO] [amcl-21]: process has finished cleanly [pid 3980]
[INFO] [amcl-11]: process has finished cleanly [pid 3947]
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 3937]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 3930]
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1]
[ERROR] [gzserver-1]: process has died [pid 3925, exit code -15, cmd 'gzserver /home/harun/AuNa/install/car_simulator/share/car_simulator/worlds/racetrack_decorated.world -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].
