Navigation 2 실행 문의건 > STELLA_N5_Forum

안녕하세요.

아이디어 로봇입니다.

사진 상 초록색 laserscan이 실제 위치와 맞지 않은 곳을 보고 있는 것 같습니다.

하단 라이다로 예상되는데 조립이 정방향으로 되어있는지 확인 부탁드립니다.

조립 및 배선 설명 매뉴얼을 보았을 때 하단 라이다의 화살표가 왼쪽을 바라보게 향해야 하나요?

네 맞습니다.

해당 라이다의 laserscan 토픽에서 로봇에 의해 가려지는 부분을 제거하려면 라이다가 왼쪽 혹은 오른쪽을 향해야 하고
저희 패키지는 왼쪽을 바라보도록 하여 개발 되었습니다.

하단 라이다를 정방향으로 재조립하고 다시 순차적으로 실행해봐도 동일한 현상이 일어나네요... 하지만 노란색과 초록색 laserscan은 동일합니다.

우선 rviz를 통해 확인할 수 있는 문제점은 확인 완료한 것 같습니다.

navigation2 launch를 실행한 터미널에서 어떤 로그가 나왔는지 공유해 주실 수 있으실까요?

[rviz2-3] [INFO] [1761178547.697933523] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761178546.611 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761178547.729998207] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761178546.598 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761178547.793821426] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761178546.712 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761178547.825878621] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761178546.698 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761178547.889742447] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761178546.811 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761178547.954377791] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761178546.795 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761178547.985328385] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761178546.910 for reason 'discarding message because the queue is full'


이러한 로그가 계속 나옵니다.

https://idea.synology.me/bbs/board.php?bo_table=N5&wr_id=124
해당 로그는 위 글과 동일한 문제로 예상됩니다.

토픽 수신에서 지연이 발생하여 laserscan 토픽의 큐가 전부 쌓여서 신규 데이터를 받지 못하는 것 입니다.

위 링크의 글에 있는 댓글처럼 라즈베리파이와 원격PC 모두 dds를 cyclone dds로 적용하여 확인해 주세요.

[rviz2-3] [INFO] [1761265295.659423495] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265294.684 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1761265295.675489439] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[rviz2-3] [INFO] [1761265295.723286038] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265294.677 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265295.755253316] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265294.783 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265295.850488328] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265294.780 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265295.882963910] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265294.883 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265295.947234518] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265294.881 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265295.978306915] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265294.984 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.042999981] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265294.981 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.074525677] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265295.084 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.106665914] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265295.081 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.170985298] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265295.183 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.235119286] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265295.182 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.267067656] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265295.282 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.331193879] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265295.279 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.363326024] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265295.383 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.426916958] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265295.380 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.490768343] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1761265295.482 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1761265296.522963886] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761265295.477 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1761265297.675745125] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265299.675942625] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265301.676246190] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265303.676463037] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265305.676686689] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265307.676920595] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265309.677258756] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265311.677586480] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265313.677835815] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265315.678102256] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265317.678320790] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265319.678656340] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265321.678900744] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265323.679151093] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265325.679384243] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265327.679640828] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265329.679910470] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265331.680141818] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265333.680354577] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265335.680583569] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265337.680800966] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265339.681005358] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761265341.681219953] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...


해당 명령어를 실행한 후 시도하여도 안됩니다....

[component_container_isolated-2] [INFO] [1761265341.681219953] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...

로그를 확인하였을 때 navigation2의 노드에 일부 문제가 있는 것으로 보입니다.

Navigation launch 실행 후 rviz에서 조작을 하지 않고 터미널에 에러 로그가 나오는 것이 없는지 확인 후 rviz에서 로봇의 위치를 지정한 직후 에러 로그가 나오는 것이 없는지 확인 부탁 드립니다.

터미널의 로그를 확인하기 힘드신 경우 ~/.ros/log 에서 로그 파일을 통하여 확인 하실 수도 있습니다.

Navigation lunch 실행 후 :
[INFO] [launch]: All log files can be found below /home/jooho/.ros/log/2025-10-24-10-31-51-508893-jooho-IdeaPad-Gaming-3-15IHU6-3928
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using map file: /home/jooho/map.yaml
[INFO] [robot_state_publisher-1]: process started with pid [3945]
[INFO] [component_container_isolated-2]: process started with pid [3946]
[INFO] [rviz2-3]: process started with pid [3947]
[robot_state_publisher-1] [INFO] [1761269512.265731757] [robot_state_publisher]: Robot initialized
[component_container_isolated-2] [INFO] [1761269512.455478835] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libcontroller_server_core.so
[component_container_isolated-2] [INFO] [1761269512.480947980] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-2] [INFO] [1761269512.480986779] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-2] [INFO] [1761269512.485971168] [controller_server]:
[component_container_isolated-2] controller_server lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.494834846] [controller_server]: Creating controller server
[rviz2-3] [INFO] [1761269512.495997731] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1761269512.496105008] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[component_container_isolated-2] [INFO] [1761269512.498720947] [local_costmap.local_costmap]:
[component_container_isolated-2] local_costmap lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.499666538] [local_costmap.local_costmap]: Creating Costmap
[component_container_isolated-2] [INFO] [1761269512.500380822] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libmap_server_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761269512.515445140] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-2] [INFO] [1761269512.515489151] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-2] [INFO] [1761269512.515493419] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1761269512.515497281] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[rviz2-3] [INFO] [1761269512.520424391] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-2] [INFO] [1761269512.527028449] [map_server]:
[component_container_isolated-2] map_server lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.527069264] [map_server]: Creating
[component_container_isolated-2] [INFO] [1761269512.527670916] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libamcl_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761269512.532882776] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-2] [INFO] [1761269512.532931127] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-2] [INFO] [1761269512.550395478] [amcl]:
[component_container_isolated-2] amcl lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.551506451] [amcl]: Creating
[component_container_isolated-2] [INFO] [1761269512.552944701] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libsmoother_server_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761269512.557051033] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-2] [INFO] [1761269512.557086232] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-2] [INFO] [1761269512.565476292] [smoother_server]:
[component_container_isolated-2] smoother_server lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.566385507] [smoother_server]: Creating smoother server
[component_container_isolated-2] [INFO] [1761269512.566952812] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761269512.569916696] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1761269512.569951339] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1761269512.573593728] [lifecycle_manager_localization]: Creating
[component_container_isolated-2] [INFO] [1761269512.579988839] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761269512.580259721] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libplanner_server_core.so
[component_container_isolated-2] [INFO] [1761269512.582194824] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-2] [INFO] [1761269512.582227256] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-2] [INFO] [1761269512.583365871] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-2] [INFO] [1761269512.583402015] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-2] [INFO] [1761269512.583532871] [map_server]: Configuring
[component_container_isolated-2] [INFO] [1761269512.583591808] [map_io]: Loading yaml file: /home/jooho/map.yaml
[component_container_isolated-2] [INFO] [1761269512.583995444] [map_io]: resolution: 0.05
[component_container_isolated-2] [INFO] [1761269512.584008137] [map_io]: origin[0]: -2.672
[component_container_isolated-2] [INFO] [1761269512.584012693] [map_io]: origin[1]: -5.29
[component_container_isolated-2] [INFO] [1761269512.584016233] [map_io]: origin[2]: 0
[component_container_isolated-2] [INFO] [1761269512.584020922] [map_io]: free_thresh: 0.196
[component_container_isolated-2] [INFO] [1761269512.584024448] [map_io]: occupied_thresh: 0.65
[component_container_isolated-2] [INFO] [1761269512.584030019] [map_io]: mode: trinary
[component_container_isolated-2] [INFO] [1761269512.584033822] [map_io]: negate: 0
[component_container_isolated-2] [INFO] [1761269512.586712313] [map_io]: Loading image_file: /home/jooho/map.pgm
[component_container_isolated-2] [INFO] [1761269512.588211179] [map_io]: Read map /home/jooho/map.pgm: 144 X 154 map @ 0.05 m/cell
[component_container_isolated-2] [INFO] [1761269512.600841472] [planner_server]:
[component_container_isolated-2] planner_server lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.601441613] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-2] [INFO] [1761269512.601515685] [amcl]: Configuring
[component_container_isolated-2] [INFO] [1761269512.601572085] [amcl]: initTransforms
[component_container_isolated-2] [INFO] [1761269512.601855364] [planner_server]: Creating
[component_container_isolated-2] [INFO] [1761269512.610757430] [amcl]: initPubSub
[component_container_isolated-2] [INFO] [1761269512.611744771] [amcl]: Subscribed to map topic.
[component_container_isolated-2] [INFO] [1761269512.615262010] [global_costmap.global_costmap]:
[component_container_isolated-2] global_costmap lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761269512.615587020] [global_costmap.global_costmap]: Creating Costmap
[component_container_isolated-2] [INFO] [1761269512.616326890] [lifecycle_manager_localization]: Activating map_server
[component_c

로그가 일부 잘린 것 같은데 route_server 관련 부분을 확인할 수 있으실까요?

[component_container_isolated-2] [INFO] [1761270761.768658071] [behavior_server]:
[component_container_isolated-2] behavior_server lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/behavior_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.771839737] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libbt_navigator_core.so
[component_container_isolated-2] [INFO] [1761270761.772621466] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-2] [INFO] [1761270761.772648463] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-2] [INFO] [1761270761.840935911] [lifecycle_manager_localization]: Server map_server connected with bond.
[component_container_isolated-2] [INFO] [1761270761.840980517] [lifecycle_manager_localization]: Activating amcl
[component_container_isolated-2] [INFO] [1761270761.841093081] [amcl]: Activating
[component_container_isolated-2] [INFO] [1761270761.841118798] [amcl]: Creating bond (amcl) to lifecycle manager.
[component_container_isolated-2] [INFO] [1761270761.847888202] [bt_navigator]:
[component_container_isolated-2] bt_navigator lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761270761.848784010] [bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.850959936] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so
[component_container_isolated-2] [INFO] [1761270761.852070096] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-2] [INFO] [1761270761.852111604] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-2] [INFO] [1761270761.856341655] [waypoint_follower]:
[component_container_isolated-2] waypoint_follower lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761270761.856765565] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.858591744] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so
[component_container_isolated-2] [INFO] [1761270761.859375757] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-2] [INFO] [1761270761.859394871] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-2] [INFO] [1761270761.867539464] [velocity_smoother]:
[component_container_isolated-2] velocity_smoother lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.870693632] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libcollision_monitor_core.so
[component_container_isolated-2] [INFO] [1761270761.874606696] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_collision_monitor::CollisionMonitor>
[component_container_isolated-2] [INFO] [1761270761.874653262] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_collision_monitor::CollisionMonitor>
[component_container_isolated-2] [INFO] [1761270761.891283432] [collision_monitor]:
[component_container_isolated-2] collision_monitor lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/collision_monitor' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.893543175] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libopennav_docking_core.so
[component_container_isolated-2] [INFO] [1761270761.895552974] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<opennav_docking::DockingServer>
[component_container_isolated-2] [INFO] [1761270761.895588947] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<opennav_docking::DockingServer>
[component_container_isolated-2] [INFO] [1761270761.931051244] [docking_server]:
[component_container_isolated-2] docking_server lifecycle node launched.
[component_container_isolated-2] Waiting on external lifecycle transitions to activate
[component_container_isolated-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[component_container_isolated-2] [INFO] [1761270761.931131087] [docking_server]: Creating docking_server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/docking_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.933331237] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1761270761.933392174] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1761270761.946260445] [lifecycle_manager_navigation]: Creating
[component_container_isolated-2] [INFO] [1761270761.947282459] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_navigation' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1761270761.947892393] [lifecycle_manager_localization]: Server amcl connected with bond.
[component_container_isolated-2] [INFO] [1761270761.947917126] [lifecycle_manager_localization]: Managed nodes are active
[component_container_isolated-2] [INFO] [1761270761.947932149] [lifecycle_manager_localization]: Creating bond timer...
[rviz2-3] [INFO] [1761270762.265223195] [rviz2]: Trying to create a map of size 144 x 154 using 1 swatches
[rviz2-3] [ERROR] [1761270762.297572190] [rviz2]: rviz/glsl120/indexed_8bit_image.vert
[rviz2-3] rviz/glsl120/indexed_8bit_image.frag
[rviz2-3]  GLSL link result :
[rviz2-3] active samplers with a different type refer to the same texture image unit
[component_container_isolated-2] [INFO] [1761270763.954597282] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270765.954824575] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270766.003561953] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270764.706 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270766.161891680] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270764.804 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270767.097809699] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270765.304 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270767.507800464] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270766.111 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270767.593673179] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270766.209 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270767.873746173] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270766.307 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270767.955024162] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270768.053728037] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270766.603 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1761270768.181300566] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1761270766.704 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-3] [INFO] [1761270768.412072989] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1761270766.111 for reason 'discarding message because the queue is full'

Loaded node 'route_server' 같은 내용의 로그는 없었나요?

route server에 관한 error는 이 한 줄인것같습니다.

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'route_server' of type 'nav2_route::RouteServer' in container '/nav2_container': Could not find requested resource in ament index

네 이 줄이 문제의 원인을 나타내는 로그입니다.

원격PC에 route_server 패키지가 설치되지 않아서 실행 할 수 없다는 내용으로 예상됩니다.

아래 명령어로 패키지를 설치하고 실행하여 확인해 주세요.
sudo apt install ros-jazzy-nav2-route

위치 지정 후: [component_container_isolated-2] [INFO] [1761269988.803678384] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761269990.803901904] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761269992.804188806] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761269994.804567281] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761269996.804803732] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761269998.805117562] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270000.805397643] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270002.805616481] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270004.805870520] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270006.806093118] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270008.806417899] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270010.806638088] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270012.806831366] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270014.807059264] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...
[component_container_isolated-2] [INFO] [1761270016.807285980] [lifecycle_manager_navigation]: Waiting for service route_server/get_state...