As @mikeferguson has so kindly leveraged this tool in his rehabilitation of Sparky (or whatever you named it 😉 )

Like a model zoo!

mention both in plugin, but also in calling remote service / action / topic / parameter

ros-navigation/navigation2#1993 (review)

I show here some questions I have about implementing a convenient PlannerSelector that could be potentially integrated into the navigation stack.

Goal: the planer selector/goal selector is a "component" that listen to the ROS network (via an action server or a topic) and is used in the Behavior Tree to store the desired planner or controller. External task-level ros nodes may decide what is the best planner to use and use this mechanism.

Note: This same design principles can be applied to the concept of GoalSelector if the FollowPath action request message is extended with some new goal_id additional field.

In the following code it is shown an example about how the planner selector could be integrated in a navigation-bt.

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
          <PipelineSequence name="NavigateWithReplanning">
          <PlannerSelector default_controller_id="FollowPath" default_planner_id="GridBased"/> 
             <RateController hz="0.1">
              <ComputePathToPose goal="{goal}" path="{path}"/>
              </RateController>
            <FollowPath path="{path}"/>
        </PipelineSequence>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>

Description

• The PlannerSelector listen to the ROS network to get the "selected planner and controller".
• The PlannerSelector is "updated" at the beginning of the "navigation cycle" and writes into the blackboard the selected planner and controller (the implementation could use input and output ports but using the blackboard is a more integrated approach).
• Then the ComputePathToPose and the FollowPath BTNodes reads from the blackboard to fill with that information the action request messages (foor the planner_server and the controller_server)

Previous experiments
I tried to implement the concept explained above. The ROS network communication mechanism used was "node parameters". The PlannerSelector had a PlannerSelector::onParametersUpdated callback and checked if the "PlannerSelector.planner_id" and/or "PlannerSelector.controler_id" where updated.

However I got some weird behavior. It looked like many of the parameter updates "were lost".
Why it did not work? This was my interpretation about what happened (Please correct me if you think I am wrong): The lifetime of the PlannerSelector is short. Because of that the PlannerSelector::onParametersUpdated was not called. (Can someone tell me if this hypothesis of the short-lifetime is correct?)

Successful workaround
Since that first approach failed I used a Decorator instead of a regular BTNode.

Already exist a PlannerSelector experiment in the following fork (PlannerSelector.hpp and PlannerSelector.cpp)

The resulting BT is like the following shown below:

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PlannerSelector default_controller_id="FollowPath" default_planner_id="GridBased">
          <PipelineSequence name="NavigateWithReplanning">
              <RateController hz="0.1">
              <ComputePathToPose goal="{goal}" path="{path}"/>
              </RateController>
            <FollowPath path="{path}"/>
        </PipelineSequence>
      </PlannerSelector>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>

Results and usage

This solution (fork https://github.com/pabloinigoblasco/navigation2): works properly using parameters updates from the terminal like it is shown below:

ros2 parameter set /bt_navigator PlannerSelector.controller_id "MyController"

or

ros2 parameter set /bt_navigator PlannerSelector.planner_id "MyPlanner"

Open issues
There is some criticism related with the usage of parameters. for me it is okay also to use any another mechanism (topics, actions or services). This approach was originally selected mimicking the concept of dynamic_reconfigure server of the move_base node (ROS 1)

** Other related issues and PRs **
PR

Message type -> layer or algorithm to use:

PC2 -> voxel grid
laser scan -> obstacle
maps -> static
inflation
sonar / ir -> range #50
radar / sonar / PC2 / 3D lidar -> STVL
keep out / speed zones -> costmap filters

The Turtlebot 3 manual link in the warning section on this page is pointing to a page that doesn't exist.

On https://navigation.ros.org/getting_started/index.html the Link to the "Official Turtlebot" totorial ends up in 404 for
https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_setup/

Not sure what file here would have to be changed.

To help with some level of versioning knowledge

Under this link, https://navigation.ros.org/setup_guides/urdf/setup_urdf.html#urdf-and-the-robot-state-publisher, there is one bug on defining the model URDF for the tutorial. Box inertia macro is not being defined, suggest to remove the box inertia from the tutorial.

speed restricted zones is one such application, but you can also have any arbitrary server publish to it to limit the max speed based on payload weight or any other metric you like

#40 / tutorial

I was reading through the documentation of Regulated Pure Pursuit Controller and bumped onto the field called max_angular_accel with the unit as m/s/s.

Screenshot

I don't know if this is correct or if it has to be rad/s/s?

https://navigation.ros.org/configuration/packages/configuring-regulated-pp.html

• dynamic following
• point to point navigation #56
• perception processing #55 (2D, 3D camera, dynamic, radar, sonar, 3D lidar, etc)
• planners
• controllers
• custom BT nodes + BT navigator logic
• custom BT XML autonomy, or use your own state machine system instead if you like.
• autonomous navigation
• lidar localization
• map serving
• recoveries
• rviz plugins
• system tests
• real-time / production support (lifecycle, bond, etc)
• Testing (nav test pkg, rviz plugin, bringup), linting, static analysis
• waypoint following + plugin for applications
• ackermann, differential, omni, legged; round or arbitrary
• multiple planning and controllers ros-navigation/navigation2#2086 either in single task or between tasks (selector nodes to change, BT context change hardcoded, or new BT between requests to vary)
• keepout and speed restricted
• gps
• vlsam
• 3d SLAM
• variable precision navigation requests (goal checkers)
• navigate through N poses as well as navigate to a pose (for via points not stopping. For stopping, use WP follower)
• Removable recovery/controller/planner servers for other langauges, plugin interfaces, env reps, distribute across multiple CPUs, distribute to the cloud, multiple instances of each, flexibility
• Plugins for core algorithms to separate robotics algorithm developers from robotics software developers.
• Use of BT nodes and mapped names to separate robotics software developers from robotics application developers to build custom applications without worrying about specific details
• Supporting N algorithm plugins
• Massive library of Bt nodes to use to compose systems
• Semantic representations + router server to use to navigate in large / outdoor spaces
• Dynamic tracking of multiple modalities in controllers/planners/perception pipelines
• localization framework multi-modal building block, better than AMCL
• map editing tools / semantic labeling visualizers
• height modelling + swappable environmental models in all servers
• Outdoor nav with route server + height models
• ... etc

After following the getting started installation steps, when running the example step 3 ros2 launch nav2_bringup tb3_simulation_launch.py yields an error complaining about not not finding the launch file.

Error message:
file 'tb3_simulation_launch.py' was not found in the share directory of package 'nav2_bringup' which is at '/opt/ros/dashing/share/nav2_bringup'

The version of the nav2_bringup package installed form the Ubuntu repository is 0.2.6 and doesn't contain tb3_simulation_launch.py, however it contains nav2_simulation_launch.py which perform the expected task. So I guess this needs to be changed till the Ubuntu repository package is updated with whats on github.

https://navigation.ros.org/configuration/packages/configuring-dwb-controller.html

The sample at the bottom of the page is not up to date after the progress/goal checkers have been pulled out into separate plugins.

• Kinematic parameters for behaviors, controllers, etc
• Costmap plugin selection
• recovery speeds / sim times
• global localization leading the clock so TF always valid subtle item. TF tolerance tuning. why use TF over odom/pose topics (interpolating, current, etc).
• RPP tuning
• Goal checkers
• Progress checkers
• RL covariances in sensor and process (Tom?)
• smoother selection
• using dynamic parameters + gui to tune (tutorial?) (doisyg?)
• Costmap 2D (local size + speed, update rate, downsampling sensors, resolution, unknown space/inflate, obstacle/voxel params, etc)
• AMCL / weights (Fergs?)
• DWB (critics, generator, plugin, weights) (David?)
• Common critical performance mistakes (no static layer in local costmap for mislocalization/updates, not calibrating/tuning/filtering noisy sensors like depth cameras, tuning your low-level controller response on the platform to be good and not lag, etc)
• Caching obstacle heuristic (Smac Hybrid-A*, State Lattice)
• Controller selection
• Planner selection
• launch options (composition, headless, etc)
• Rotate in Place Behavior
• Robot Footprint vs Radius
• Inflation Potential Fields
• ... anything you think would be insightful!

Need to change the CircleCI workflow on publishing to make sure we don't nuke the CNAME file (or recreate it each time) in the gh-pages deployment branch.

This file is required so the website is hosted on navigation.ros.org vs ros-planning.github.io/navigation.ros.org.

https://github.com/ros-planning/navigation2/blob/main/nav2_msgs/action/NavigateToPose.action#L8-L11

and how to use it to estimate ETA

Required Info:

• Operating System:
  • ubuntu20.04(on docker)
• ROS2 Version:
  • foxy binaries
• Version or commit hash:
  • from source : foxy-devel
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

I was working on the tutorial for keepout filter as given in
"https://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html#"

Build is completed without problem. and run costmap filter demo by this command after loading install/setup.bash.

ros2 launch nav2_costmap_filters_demo costmap_filter_info.launch.py params_file:=src/navigation2_tutorials/nav2_costmap_filters_demo/params/keepout_params.yaml mask:=src/navigation2_tutorials/nav2_costmap_filters_demo/maps/keepout_mask.yaml

Expected behavior

The node for the Costmap filter should start up.

Actual behavior

When the node starts, it causes an error and exits.

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2021-03-30-11-17-40-144274-ade-29027
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:271> exception=SubstitutionFailure("executable 'costmap_filter_info_server' not found on the libexec directory '/home/user/nav2_ws/install/nav2_map_server/lib/nav2_map_server' ")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 273, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 293, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 426, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 775, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 635, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 635, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 184, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 84, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: executable 'costmap_filter_info_server' not found on the libexec directory '/home/user/nav2_ws/install/nav2_map_server/lib/nav2_map_server' 
[INFO] [lifecycle_manager-1]: process started with pid [29029]
[INFO] [map_server-2]: process started with pid [29031]
Task exception was never retrieved
future: <Task finished name='Task-12' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:271> exception=AttributeError("'NoneType' object has no attribute 'complete'")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 273, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 293, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 422, in __on_signal_process_event
    if self._subprocess_protocol.complete.done():
AttributeError: 'NoneType' object has no attribute 'complete'
[INFO] [lifecycle_manager-1]: sending signal 'SIGINT' to process[lifecycle_manager-1]
[ERROR] [lifecycle_manager-1]: process has died [pid 29029, exit code -2, cmd '/home/user/nav2_ws/install/nav2_lifecycle_manager/lib/nav2_lifecycle_manager/lifecycle_manager --ros-args -r __node:=lifecycle_manager_costmap_filters -r __ns:=/ --params-file /tmp/launch_params_hqoca0e4 --params-file /tmp/launch_params_znumjetd --params-file /tmp/launch_params_vvmpq6kj'].
[map_server-2] 1617070660.211140 [0] map_server: using network interface eno1 (udp/10.87.134.100) selected arbitrarily from: eno1, docker0
[map_server-2] [INFO] [1617070660.214656386] [filter_mask_server]: 
[map_server-2] 	filter_mask_server lifecycle node launched. 
[map_server-2] 	Waiting on external lifecycle transitions to activate
[map_server-2] 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
[map_server-2] [INFO] [1617070660.214702749] [filter_mask_server]: Creating
[ERROR] [map_server-2]: process[map_server-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [map_server-2]: sending signal 'SIGTERM' to process[map_server-2]
[ERROR] [map_server-2]: process has died [pid 29031, exit code -15, cmd '/home/user/nav2_ws/install/nav2_map_server/lib/nav2_map_server/map_server --ros-args -r __node:=filter_mask_server -r __ns:=/ --params-file /tmp/tmpd2md3kma'].

I have reviewed the source files to be loaded, etc., but the problem was not solved.
(I have also loaded the setup.bash for both ROS2 and Navigation2.)
I also tried rebuilding Navigation2 and installing out using apt since it said costmap_filter_info_server was not found, but the problem was not solved.

Is there any idea why it doesn't work on this issue?

When following the instructions here on a fresh install of Ubuntu Focal, I had to install some dependencies that were not mentioned on the instructions.

First step (Build ROS 2 Master) went smoothly.
For the second step (Build Navigation2 Dependencies) I had to add the following dependencies:

# install boost
sudo apt install libboost-all-dev
# install gazeebo
curl -sSL http://get.gazebosim.org | sh

For the third step (Build Navigation2 Master) I had to add the following dependencies:

sudo apt install libgraphicsmagick++1-dev

Afterwards, I realized there is a troubleshooting guide, and repeated the process adding the proper call to rosdep before doing colcon build

Perhaps the best solution would be to add the rosdep step to the instructions.

Give folks direct access to source to PR against with updates.

For Foxy and Eloquent, sudo apt install ros-<ros2-distro>-turtlebot3* does not work because there are no turtlebot3 releases for those distros (yet).

For Dashing, ros2 launch nav2_bringup tb3_simulation_launch.py does not work because tb3_simulation_launch.py does not exist for Dashing. I believe it only exist for the master branch right now.

stvl_layer:
  plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" # For Galactic and later
  enabled: true
  voxel_decay: 15.
  decay_model: 0
  voxel_size: 0.05
  track_unknown_space: true
  max_obstacle_height: 2.0
  unknown_threshold: 15
  mark_threshold: 0
  update_footprint_enabled: true
  combination_method: 1
  obstacle_range: 3.0 <------------------------------------------
  origin_z: 0.0
  publish_voxel_map: true
  transform_tolerance: 0.2
  mapping_mode: false
  map_save_duration: 60.0
  observation_sources: pointcloud
  pointcloud:
    data_type: PointCloud2
    topic: /intel_realsense_r200_depth/points
    marking: true
    clearing: true
    min_obstacle_height: 0.0
    max_obstacle_height: 2.0
    expected_update_rate: 0.0
    observation_persistence: 0.0
    inf_is_valid: false
    voxel_filter: false
    clear_after_reading: true
    max_z: 7.0
    min_z: 0.1
    vertical_fov_angle: 0.8745
    horizontal_fov_angle: 1.048
    decay_acceleration: 15.0
    model_type: 0

should be

stvl_layer:
  plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" # For Galactic and later
  enabled: true
  voxel_decay: 15.
  decay_model: 0
  voxel_size: 0.05
  track_unknown_space: true
  max_obstacle_height: 2.0
  unknown_threshold: 15
  mark_threshold: 0
  update_footprint_enabled: true
  combination_method: 1
  origin_z: 0.0
  publish_voxel_map: true
  transform_tolerance: 0.2
  mapping_mode: false
  map_save_duration: 60.0
  observation_sources: pointcloud
  pointcloud:
    data_type: PointCloud2
    topic: /intel_realsense_r200_depth/points
    marking: true
    clearing: true
    obstacle_range: 3.0 <------------------------------------------
    min_obstacle_height: 0.0
    max_obstacle_height: 2.0
    expected_update_rate: 0.0
    observation_persistence: 0.0
    inf_is_valid: false
    voxel_filter: false
    clear_after_reading: true
    max_z: 7.0
    min_z: 0.1
    vertical_fov_angle: 0.8745
    horizontal_fov_angle: 1.048
    decay_acceleration: 15.0
    model_type: 0

and using it

Add documentation related to ros-navigation/navigation2#2111 to navigation.ros.org

SteveMacenski ;

• We also need any new parameters or actions exposed by the waypoint follower added to the navigation.ros.org website configuration docs.
• Also adding a node in the migration guide that WP follower now does GPS in the Foxy migration guide.
• The WP follower configuration page should also add a paragraph on top with the basic package description mentioning GPS waypoint following now.

jediofgever;

• following navsat_transform_node params needs to be set true, which will be covered in navigation.ros.org PR;
  broadcast_utm_transform: true
  broadcast_utm_transform_as_parent_frame: true

Hello,

I am new to ROS and I don't know if this is the right place to ask about this.
I did research but I couldn't find anything about how to calculate some planner metrics.

I would like to run a wide variety of planners SmacPlanner, A*, Hybrid-A* and varying some parameters while measuring the time to obtain the global path and its length. For now, I'm clueless about how to do it.

Additionally, I would like to set the initial pose and the goal pose programmatically so I can guarantee that the start and final poses are always the same. I do not have this precision using rviz commands. I tried publishing to the topic /initialpose with the following command but without success.

ros2 topic pub -1 /initialpose  geometry_msgs/PoseWithCovarianceStamped '{ header: {stamp: {sec: 0, nanosec: 0}, frame_id: "map"}, pose: { pose: {position: {x: 10, y: 10.0, z: 00.0}, orientation: {w: 0.1}}, } }'

Said that I have the following questions:

1. Is there a topic that I can subscribe in order to get those metrics (path length and average time to compute global path)?
2. Is the initialpose the correct topic to publish this pose? Which topic can I use to publish the goal pose? I tried the /goal_pose but also without success.

Make a navigation package / bring up for a custom robot (probably in a custom map / simulation environment / hardware too)

@AlexeyMerzlyakov

to show-case how to use it correctly, as a tutorial and also have this Bt included in nav2_bt_navigator xml set.

Maybe a docking subtree with changing controllers on if environment is "dynamic" and changing the goal checker tolerances by request (docking fine, general coarser). Change planning algorithm if the first fails. That should highlight all 3 changes and showcase how to use 1 as a recovery and the other 2 as specific application example changes. Or maybe if its a pick-up-and-drop-off-box. the pick up is fine because you know where the box is, but the drop-off is coarse resolution because its just a general area

Under this link, https://navigation.ros.org/setup_guides/urdf/setup_urdf.html#urdf-and-the-robot-state-publisher, there is one bug. The box inertia macro is not defined in this case, and it will cause error while building it. It is suggested to be removed to reduce misunderstanding.

Everything has started correctly,but i see RViz is not same with example.

Terminal log

[rviz2-4] [INFO] [1620814689.516360373] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814689.663454946] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814690.163460701] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814690.516628649] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814690.516904289] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814690.663472256] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814691.163521513] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814691.517209295] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814691.517323420] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814691.663448091] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814692.163458359] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814692.517511862] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814692.517769372] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814692.663533549] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814693.163441092] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814693.518019871] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814693.518340054] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814693.663472293] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814694.163513538] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814694.518620436] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814694.518962508] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814694.663537256] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814695.163507291] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814695.519258071] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814695.519401372] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814695.663532535] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814696.163442466] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814696.519603464] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814696.519803784] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814696.663513751] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814697.163442398] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814697.519981387] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814697.520090025] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814697.663491973] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814698.163440455] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814698.520417511] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814698.520726287] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814698.663471188] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814699.163510043] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814699.520943222] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814699.521256701] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814699.663409862] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814700.163473784] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814700.521562637] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814700.521761501] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814700.663462220] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814701.163479939] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814701.522007006] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814701.522330351] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814701.663412686] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814702.163447950] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814702.522602517] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814702.522765393] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814702.663515204] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814703.163440517] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814703.522988751] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814703.523099107] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-8] [INFO] [1620814703.663478590] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-8] [INFO] [1620814704.163518520] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-4] [INFO] [1620814704.523302103] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-4] [INFO] [1620814704.523416608] [rviz2]: Sending lifecycle_manager_navigation/is_active request

All the tutorials and demo plugins use shared pointers but we've changed them to all weak pointers for shutdown. We need to update all the tutorials to reflect the new interfaces

e.g. a more focused version of what @gramss proposed in #87

• How to run tests locally and see output (colcon test, test-result --verbose, where to find files in case you want to inspect)
• How to run code coverage and see report locally (see below)
• How to build nav2 docs and nav2 website locally and view
• Elements of testing (unit tests + linters + launch tests) - in another tutorial about how to write / setup tests?

1. Build with GCOV enabled
$ cd ~/navigation2_ws/
$ colcon build --symlink-install --packages-select nav2_map_server --cmake-args -DCMAKE_CXX_FLAGS='--coverage' -DCMAKE_C_FLAGS='--coverage'

2. Run testcase manually
$ ./build/nav2_map_server/test/unit/test_costmap_filter_info_server

3. Run LCOV to get html-file
$ lcov --capture --directory build/nav2_map_server/CMakeFiles/map_server_core.dir/src/costmap_filter_info --output-file coverage.info
(in order to get what directory to specify to LCOV I've found required *.gcda file from all file list:
  $ find "build/nav2_costmap_2d/" -name "*.gcda")
$ genhtml coverage.info --output-directory out
$ firefox out/index.html

To help with some level of versioning knowledge

List of parameters with their state (https://github.com/ros-planning/navigation2/blob/master/doc/parameters/param_list.md):

• bt_navigator
• costmaps
• DWB
• waypoint follower
• controller_server
• lifecycle_manager
• map_server
• planner_server
• navfn_planner
• recoveries
• AMCL
• Behavior Tree Nodes