네비게이션 실행 문의 건 > STELLA_N5_Forum

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안녕하세요.
댓글에는 터미널 로그가 전부 다 올라가지 않아서 여기에 부득이 하게 작성합니다.

첨부된 사진과 같이 오늘은 네비게이션이 active로 표시됩니다.
그런데 Nav2 Goal이 선택이 되지 않습니다. Nav2 Goal을 클릭해서 목표 위치를 클릭하면 시간은 흘러가지만 로봇이 움직이질 않습니다.

해당 터미널의 내용을 아래에 붙여 넣겠습니다.
조언 부탁드립니다.
감사합니다.

a@ya-15UD:~$ ros2 launch stella_navigation2 navigation2.launch.py map:=$HOME/map.yaml
[INFO] [launch]: All log files can be found below /home/ya/.ros/log/2025-10-15-10-28-51-588136-ya-15UD-25861
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Using map file: /home/ya/map.yaml
[INFO] [robot_state_publisher-1]: process started with pid [25880]
[INFO] [component_container_isolated-2]: process started with pid [25881]
[INFO] [rviz2-3]: process started with pid [25882]
[robot_state_publisher-1] [INFO] [1760491733.428868435] [robot_state_publisher]: Robot initialized
[component_container_isolated-2] [INFO] [1760491733.789303298] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libcontroller_server_core.so
[component_container_isolated-2] [INFO] [1760491733.816481041] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[component_container_isolated-2] [INFO] [1760491733.816532922] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer>
[rviz2-3] [INFO] [1760491733.824845353] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1760491733.825026826] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1760491733.859250338] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-2] [INFO] [1760491733.901072904] [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] [1760491733.912234331] [controller_server]: Creating controller server
[component_container_isolated-2] [INFO] [1760491734.018030772] [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] [1760491734.020225558] [local_costmap.local_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/controller_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491734.026990723] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libmap_server_core.so
[component_container_isolated-2] [INFO] [1760491734.047129622] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer>
[component_container_isolated-2] [INFO] [1760491734.047179054] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver>
[component_container_isolated-2] [INFO] [1760491734.047193637] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1760491734.047206099] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer>
[component_container_isolated-2] [INFO] [1760491734.125245052] [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] [1760491734.125304715] [map_server]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/map_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491734.126217810] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libamcl_core.so
[component_container_isolated-2] [INFO] [1760491734.130372734] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[component_container_isolated-2] [INFO] [1760491734.130421740] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_amcl::AmclNode>
[rviz2-3] [INFO] [1760491734.142547640] [rviz2]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2-3]
[rviz2-3] [INFO] [1760491734.144694974] [rviz2]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2-3]
[component_container_isolated-2] [INFO] [1760491734.431738425] [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] [1760491734.433374164] [amcl]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/amcl' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491734.472140533] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libsmoother_server_core.so
[component_container_isolated-2] [INFO] [1760491734.483128705] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[component_container_isolated-2] [INFO] [1760491734.483234399] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer>
[rviz2-3] [INFO] [1760491734.581844634] [rviz2]: Subscribing to: /global_costmap/voxel_marked_cloud
[rviz2-3]
[rviz2-3] [INFO] [1760491734.685595483] [rviz2]: Subscribing to: /local_costmap/voxel_marked_cloud
[rviz2-3]
[component_container_isolated-2] [INFO] [1760491734.734554336] [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] [1760491734.743178248] [smoother_server]: Creating smoother server
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/smoother_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491734.746483461] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so
[component_container_isolated-2] [INFO] [1760491734.750890367] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1760491734.751011840] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[rviz2-3] [INFO] [1760491734.895433943] [rviz2]: Subscribing to: /mobile_base/sensors/bumper_pointcloud
[rviz2-3]
[component_container_isolated-2] [INFO] [1760491734.971800368] [lifecycle_manager_localization]: Creating
[component_container_isolated-2] [INFO] [1760491734.999747358] [lifecycle_manager_localization]: Creating and initializing lifecycle service clients
[rviz2-3] [INFO] [1760491735.000260925] [rviz2]: Subscribing to: /global_costmap/voxel_marked_cloud
[rviz2-3]
[component_container_isolated-2] [INFO] [1760491735.002052974] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libplanner_server_core.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/lifecycle_manager_localization' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491735.006473547] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-2] [INFO] [1760491735.006547688] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer>
[component_container_isolated-2] [INFO] [1760491735.039158056] [lifecycle_manager_localization]: Starting managed nodes bringup...
[component_container_isolated-2] [INFO] [1760491735.039241662] [lifecycle_manager_localization]: Configuring map_server
[component_container_isolated-2] [INFO] [1760491735.040219051] [map_server]: Configuring
[rviz2-3] [INFO] [1760491735.040399279] [rviz2]: Subscribing to: /local_costmap/voxel_marked_cloud
[rviz2-3]
[component_container_isolated-2] [INFO] [1760491735.040555958] [map_io]: Loading yaml file: /home/ya/map.yaml
[component_container_isolated-2] [INFO] [1760491735.041211947] [map_io]: resolution: 0.05
[component_container_isolated-2] [INFO] [1760491735.041253943] [map_io]: origin[0]: -11.858
[component_container_isolated-2] [INFO] [1760491735.041267069] [map_io]: origin[1]: -7.183
[component_container_isolated-2] [INFO] [1760491735.041276096] [map_io]: origin[2]: 0
[component_container_isolated-2] [INFO] [1760491735.041285412] [map_io]: free_thresh: 0.196
[component_container_isolated-2] [INFO] [1760491735.041295050] [map_io]: occupied_thresh: 0.65
[component_container_isolated-2] [INFO] [1760491735.041333564] [map_io]: mode: trinary
[component_container_isolated-2] [INFO] [1760491735.041361591] [map_io]: negate: 0
[component_container_isolated-2] [INFO] [1760491735.041758251] [map_io]: Loading image_file: /home/ya/map.pgm
[component_container_isolated-2] [INFO] [1760491735.050999698] [map_io]: Read map /home/ya/map.pgm: 584 X 304 map @ 0.05 m/cell
[component_container_isolated-2] [INFO] [1760491735.072293822] [lifecycle_manager_localization]: Configuring amcl
[component_container_isolated-2] [INFO] [1760491735.072521059] [amcl]: Configuring
[component_container_isolated-2] [INFO] [1760491735.072681178] [amcl]: initTransforms
[component_container_isolated-2] [INFO] [1760491735.174674177] [amcl]: initPubSub
[component_container_isolated-2] [INFO] [1760491735.379902511] [amcl]: Subscribed to map topic.
[component_container_isolated-2] [INFO] [1760491735.494591247] [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] [1760491735.513293325] [planner_server]: Creating
[component_container_isolated-2] [INFO] [1760491735.549419527] [lifecycle_manager_localization]: Activating map_server
[component_container_isolated-2] [INFO] [1760491735.550514882] [map_server]: Activating
[component_container_isolated-2] [INFO] [1760491735.554602831] [map_server]: Creating bond (map_server) to lifecycle manager.
[component_container_isolated-2] [INFO] [1760491735.555620004] [amcl]: Received a 584 X 304 map @ 0.050 m/pix
[component_container_isolated-2] [INFO] [1760491735.695368451] [lifecycle_manager_localization]: Server map_server connected with bond.
[component_container_isolated-2] [INFO] [1760491735.695567168] [lifecycle_manager_localization]: Activating amcl
[component_container_isolated-2] [INFO] [1760491735.696392556] [amcl]: Activating
[component_container_isolated-2] [INFO] [1760491735.696623847] [amcl]: Creating bond (amcl) to lifecycle manager.
[component_container_isolated-2] [INFO] [1760491735.730187303] [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] [1760491735.731415485] [global_costmap.global_costmap]: Creating Costmap
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/planner_server' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491735.788125620] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libbehavior_server_core.so
[component_container_isolated-2] [INFO] [1760491735.790503851] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-2] [INFO] [1760491735.790626601] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer>
[component_container_isolated-2] [INFO] [1760491735.847474261] [lifecycle_manager_localization]: Server amcl connected with bond.
[component_container_isolated-2] [INFO] [1760491735.847711952] [lifecycle_manager_localization]: Managed nodes are active
[component_container_isolated-2] [INFO] [1760491735.847816522] [lifecycle_manager_localization]: Creating bond timer...
[component_container_isolated-2] [INFO] [1760491735.883389219] [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] [1760491735.906445830] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libbt_navigator_core.so
[component_container_isolated-2] [INFO] [1760491735.908598697] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-2] [INFO] [1760491735.908658993] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator>
[component_container_isolated-2] [INFO] [1760491736.016868378] [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] [1760491736.020073084] [bt_navigator]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/bt_navigator' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491736.024558527] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so
[component_container_isolated-2] [INFO] [1760491736.026929904] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-2] [INFO] [1760491736.026995070] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower>
[component_container_isolated-2] [INFO] [1760491736.138053544] [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] [1760491736.138892406] [waypoint_follower]: Creating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/waypoint_follower' in container '/nav2_container'
[component_container_isolated-2] [INFO] [1760491736.144391675] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so
[component_container_isolated-2] [INFO] [1760491736.146488715] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-2] [INFO] [1760491736.146565879] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother>
[component_container_isolated-2] [INFO] [1760491736.282480175] [velocity_smoother]:
[component_container_isolated-2] velocity_smoother lifecycle node launched.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/velocity_smoother' in container '/nav2_container'
[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] [1760491736.289800766] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libcollision_monitor_core.so
[component_container_isolated-2] [INFO] [1760491736.298436199] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_collision_monitor::CollisionMonitor>
[component_container_isolated-2] [INFO] [1760491736.298501856] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_collision_monitor::CollisionMonitor>
[component_container_isolated-2] [INFO] [1760491736.427542010] [collision_monitor]:
[component_container_isolated-2] collision_monitor lifecycle node launched.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/collision_monitor' in container '/nav2_container'
[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] [1760491736.432794919] [nav2_container]: Load Library: /opt/ros/jazzy/lib/libopennav_docking_core.so
[component_container_isolated-2] [INFO] [1760491736.435636291] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<opennav_docking::DockingServer>
[component_container_isolated-2] [INFO] [1760491736.435694515] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<opennav_docking::DockingServer>
[component_container_isolated-2] [INFO] [1760491736.529450935] [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] [1760491736.529550869] [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] [1760491736.538310894] [nav2_container]: Found class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1760491736.538392865] [nav2_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager>
[component_container_isolated-2] [INFO] [1760491736.584984905] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1760491735.411 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1760491736.688200352] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1760491735.512 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-3] [INFO] [1760491736.771771816] [rviz2]: Trying to create a map of size 584 x 304 using 1 swatches
[component_container_isolated-2] [INFO] [1760491736.780893835] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1760491735.610 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-3] [ERROR] [1760491736.806280548] [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] [1760491736.868878230] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1760491735.710 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-2] [INFO] [1760491736.952860634] [amcl]: Message Filter dropping message: frame 'base_scan' at time 1760491735.808 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491736.989787737] [lifecycle_manager_navigation]: Creating
[component_container_isolated-2] [INFO] [1760491737.053977426] [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] [1760491737.059480348] [amcl]: createLaserObject
[component_container_isolated-2] [WARN] [1760491737.125369398] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-3] [INFO] [1760491737.234858474] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491735.124 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.266935477] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491735.112 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.331083014] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.222 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.363268510] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.208 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491737.365624572] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[component_container_isolated-2] [INFO] [1760491737.365735537] [lifecycle_manager_navigation]: Configuring controller_server
[component_container_isolated-2] [INFO] [1760491737.366226786] [controller_server]: Configuring controller interface
[component_container_isolated-2] [INFO] [1760491737.366294252] [controller_server]: getting progress checker plugins..
[component_container_isolated-2] [INFO] [1760491737.367328550] [controller_server]: getting goal checker plugins..
[component_container_isolated-2] [INFO] [1760491737.370695457] [controller_server]: Controller frequency set to 20.0000Hz
[component_container_isolated-2] [INFO] [1760491737.370895084] [local_costmap.local_costmap]: Configuring
[component_container_isolated-2] [INFO] [1760491737.448313292] [local_costmap.local_costmap]: Using plugin "static_layer"
[rviz2-3] [INFO] [1760491737.458914538] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.322 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491737.464892709] [local_costmap.local_costmap]: Subscribing to the map topic (/map) with transient local durability
[component_container_isolated-2] [INFO] [1760491737.470855044] [local_costmap.local_costmap]: Initialized plugin "static_layer"
[component_container_isolated-2] [INFO] [1760491737.470973059] [local_costmap.local_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-2] [INFO] [1760491737.478068488] [local_costmap.local_costmap]: Subscribed to Topics: scan scan_2
[rviz2-3] [INFO] [1760491737.491014793] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.306 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.555074414] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.406 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.555235752] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.421 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491737.625258717] [local_costmap.local_costmap]: Initialized plugin "obstacle_layer"
[component_container_isolated-2] [INFO] [1760491737.625378721] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[component_container_isolated-2] [INFO] [1760491737.631055882] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[rviz2-3] [INFO] [1760491737.652232737] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.522 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.683723423] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.507 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.747677259] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.622 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.779257557] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.607 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.843747734] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.724 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491737.874858192] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.705 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491737.895316190] [local_costmap.local_costmap]: The configured inflation radius (0.300) is smaller than the computed inscribed radius (0.422) of your footprint, it is highly recommended to set inflation radius to be at least as big as the inscribed radius to avoid collisions
[rviz2-3] [INFO] [1760491737.939772732] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.826 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491737.985935775] [local_costmap.local_costmap]: StaticLayer: Resizing static layer to 584 X 304 at 0.050000 m/pix
[component_container_isolated-2] [INFO] [1760491737.990783488] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[rviz2-3] [INFO] [1760491738.005647424] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.806 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.005948298] [controller_server]: Controller Server has progress_checker  progress checkers available.
[component_container_isolated-2] [INFO] [1760491738.025614617] [controller_server]: Created goal checker : precise_goal_checker of type nav2_controller::SimpleGoalChecker
[component_container_isolated-2] [INFO] [1760491738.042261022] [controller_server]: Controller Server has precise_goal_checker  goal checkers available.
[component_container_isolated-2] [INFO] [1760491738.062725941] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[rviz2-3] [INFO] [1760491738.068286278] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491736.906 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.068452717] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491736.926 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.071755017] [controller_server]: Setting transform_tolerance to 0.200000
[component_container_isolated-2] [INFO] [1760491738.145115231] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[component_container_isolated-2] [INFO] [1760491738.147722513] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.148202545] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[component_container_isolated-2] [INFO] [1760491738.153218502] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.154808639] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[rviz2-3] [INFO] [1760491738.162811253] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.027 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.194885287] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.008 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.203013321] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.205022998] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[component_container_isolated-2] [INFO] [1760491738.209479401] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.210062361] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[component_container_isolated-2] [INFO] [1760491738.212476029] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.213067790] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[component_container_isolated-2] [INFO] [1760491738.214798788] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.215402706] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[component_container_isolated-2] [INFO] [1760491738.217109309] [controller_server]: Critic plugin initialized
[component_container_isolated-2] [INFO] [1760491738.217168678] [controller_server]: Controller Server has FollowPath  controllers available.
[rviz2-3] [INFO] [1760491738.226966115] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.127 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.291179453] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.108 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.327967217] [lifecycle_manager_navigation]: Configuring smoother_server
[component_container_isolated-2] [INFO] [1760491738.330915216] [smoother_server]: Configuring smoother server
[rviz2-3] [INFO] [1760491738.355922276] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.227 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.386720975] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.208 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.451423674] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.326 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.480225272] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[component_container_isolated-2] [INFO] [1760491738.484787507] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[rviz2-3] [INFO] [1760491738.485243317] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.309 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.547319389] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.425 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.576296740] [lifecycle_manager_navigation]: Configuring planner_server
[component_container_isolated-2] [INFO] [1760491738.576721395] [planner_server]: Configuring
[component_container_isolated-2] [INFO] [1760491738.576835284] [global_costmap.global_costmap]: Configuring
[rviz2-3] [INFO] [1760491738.579021914] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.409 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.643491130] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.525 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.652224123] [global_costmap.global_costmap]: Using plugin "static_layer"
[component_container_isolated-2] [INFO] [1760491738.662619304] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[rviz2-3] [INFO] [1760491738.675578216] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.510 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.677115401] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[component_container_isolated-2] [INFO] [1760491738.677204334] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-2] [INFO] [1760491738.689465663] [global_costmap.global_costmap]: Subscribed to Topics: scan scan_2
[component_container_isolated-2] [INFO] [1760491738.767887962] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[component_container_isolated-2] [INFO] [1760491738.768002189] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[rviz2-3] [INFO] [1760491738.771112616] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.610 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.771257910] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.625 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491738.772567511] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[rviz2-3] [INFO] [1760491738.835548214] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.725 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.867043951] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.711 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491738.954249954] [global_costmap.global_costmap]: The configured inflation radius (0.400) is smaller than the computed inscribed radius (0.422) of your footprint, it is highly recommended to set inflation radius to be at least as big as the inscribed radius to avoid collisions
[rviz2-3] [INFO] [1760491738.995658919] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.814 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491738.995770586] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.826 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.024038066] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 584 X 304 at 0.050000 m/pix
[component_container_isolated-2] [INFO] [1760491739.025775774] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner
[component_container_isolated-2] [INFO] [1760491739.025860581] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[component_container_isolated-2] [INFO] [1760491739.034322941] [planner_server]: Planner Server has GridBased  planners available.
[rviz2-3] [INFO] [1760491739.059887735] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491737.927 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.091725314] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491737.914 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [WARN] [1760491739.182196400] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-3] [INFO] [1760491739.190188900] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.015 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.190818898] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.027 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.253980134] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.129 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.315763730] [lifecycle_manager_navigation]: Configuring behavior_server
[component_container_isolated-2] [INFO] [1760491739.316377364] [behavior_server]: Configuring
[rviz2-3] [INFO] [1760491739.316190033] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.116 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.355338646] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors::Spin
[component_container_isolated-2] [INFO] [1760491739.362075481] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors::BackUp
[component_container_isolated-2] [INFO] [1760491739.367553773] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading
[component_container_isolated-2] [INFO] [1760491739.373115850] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop
[component_container_isolated-2] [INFO] [1760491739.378947047] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors::Wait
[rviz2-3] [INFO] [1760491739.410944804] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.216 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.411087295] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.231 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.432836059] [behavior_server]: Configuring spin
[rviz2-3] [INFO] [1760491739.474939274] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.331 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.538244202] [behavior_server]: Configuring backup
[rviz2-3] [INFO] [1760491739.541113386] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.316 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.572572080] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.414 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.573890524] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.431 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.650849595] [behavior_server]: Configuring drive_on_heading
[rviz2-3] [INFO] [1760491739.667544362] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.532 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.699503077] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.515 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.731929108] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.632 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.786244809] [behavior_server]: Configuring assisted_teleop
[rviz2-3] [INFO] [1760491739.796175319] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.616 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.859756521] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.713 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.859872346] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.731 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.959753102] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.832 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491739.987047147] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.814 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491739.990705646] [behavior_server]: Configuring wait
[rviz2-3] [INFO] [1760491740.051802143] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491738.932 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491740.060895685] [lifecycle_manager_navigation]: Configuring velocity_smoother
[component_container_isolated-2] [INFO] [1760491740.061711426] [velocity_smoother]: Configuring velocity smoother
[rviz2-3] [INFO] [1760491740.115283492] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491738.912 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491740.131294463] [lifecycle_manager_navigation]: Configuring collision_monitor
[component_container_isolated-2] [INFO] [1760491740.131645812] [collision_monitor]: Configuring
[rviz2-3] [INFO] [1760491740.178946224] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.012 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.179027294] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.032 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.244481711] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.133 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491740.272143747] [collision_monitor]: [scan]: Creating Scan
[rviz2-3] [INFO] [1760491740.278089249] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.113 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491740.307652398] [collision_monitor]: [FootprintApproach]: Creating Polygon
[component_container_isolated-2] [INFO] [1760491740.310397070] [collision_monitor]: [FootprintApproach]: Polygon points are not defined. Using dynamic subscription instead.
[component_container_isolated-2] [INFO] [1760491740.328487650] [collision_monitor]: [FootprintApproach]: Making footprint subscriber on /local_costmap/published_footprint topic
[rviz2-3] [INFO] [1760491740.339800088] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.234 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.371279372] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.211 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491740.378906663] [lifecycle_manager_navigation]: Configuring bt_navigator
[component_container_isolated-2] [INFO] [1760491740.379578620] [bt_navigator]: Configuring
[component_container_isolated-2] [INFO] [1760491740.425315746] [bt_navigator]: Creating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator
[rviz2-3] [INFO] [1760491740.467587632] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.334 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.500005301] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.311 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.564141912] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.412 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.564533575] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.435 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.628751842] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.535 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.660437005] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.510 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.723067208] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.634 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.787442642] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.611 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.851451036] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.712 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491740.851558580] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.734 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491740.892194302] [bt_navigator]: Creating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator
[rviz2-3] [INFO] [1760491740.947053715] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.834 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.011171768] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.812 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.044154139] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491739.933 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.107818734] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491739.912 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491741.135897983] [lifecycle_manager_navigation]: Configuring waypoint_follower
[component_container_isolated-2] [INFO] [1760491741.136160010] [waypoint_follower]: Configuring
[rviz2-3] [INFO] [1760491741.138936317] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.032 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.170818310] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.010 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [WARN] [1760491741.227642807] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-3] [INFO] [1760491741.236840873] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.132 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.267626177] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.111 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.363249554] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.231 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.395908127] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.208 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.458912826] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.309 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.459011494] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.331 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491741.484944641] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[component_container_isolated-2] [INFO] [1760491741.488040436] [lifecycle_manager_navigation]: Configuring docking_server
[component_container_isolated-2] [INFO] [1760491741.488418094] [docking_server]: Configuring docking_server
[component_container_isolated-2] [INFO] [1760491741.488523715] [docking_server]: Controller frequency set to 50.0000Hz
[rviz2-3] [INFO] [1760491741.555285522] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.431 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.587496927] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.407 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491741.628831683] [docking_server]: Created charging dock plugin simple_charging_dock of type opennav_docking::SimpleChargingDock
[rviz2-3] [INFO] [1760491741.652115146] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.529 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [WARN] [1760491741.677573274] [docking_server]: Dock database filepath nor dock parameters set. Docking actions can only be executed specifying the dock pose via the action request. Or update the dock database via the reload_database service.
[component_container_isolated-2] [INFO] [1760491741.677680777] [docking_server]: Docking Server has 1 dock types and 0 dock instances available.
[rviz2-3] [INFO] [1760491741.683409118] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.508 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491741.686242251] [lifecycle_manager_navigation]: Activating controller_server
[component_container_isolated-2] [INFO] [1760491741.686727652] [controller_server]: Activating
[component_container_isolated-2] [INFO] [1760491741.686805600] [local_costmap.local_costmap]: Activating
[component_container_isolated-2] [INFO] [1760491741.686828773] [local_costmap.local_costmap]: Checking transform
[component_container_isolated-2] [INFO] [1760491741.687061794] [local_costmap.local_costmap]: start
[rviz2-3] [INFO] [1760491741.747856349] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.628 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.779286311] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.606 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.844293123] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.729 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.875872347] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.707 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.940542138] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.828 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491741.973449691] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.807 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.035754473] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491740.927 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.068066739] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491740.907 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.132142602] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.028 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.163840909] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.008 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491742.202533430] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [INFO] [1760491742.228293919] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.127 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491742.251439322] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[rviz2-3] [INFO] [1760491742.259804215] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.106 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.355729647] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.207 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.355850949] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.226 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491742.383859265] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[component_container_isolated-2] [INFO] [1760491742.383947178] [lifecycle_manager_navigation]: Activating smoother_server
[component_container_isolated-2] [INFO] [1760491742.384585437] [smoother_server]: Activating
[component_container_isolated-2] [INFO] [1760491742.384666638] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[rviz2-3] [INFO] [1760491742.451798092] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.307 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.452011782] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.325 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491742.500390430] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[component_container_isolated-2] [INFO] [1760491742.500878375] [lifecycle_manager_navigation]: Activating planner_server
[component_container_isolated-2] [INFO] [1760491742.502217726] [planner_server]: Activating
[component_container_isolated-2] [INFO] [1760491742.502479454] [global_costmap.global_costmap]: Activating
[component_container_isolated-2] [INFO] [1760491742.502554906] [global_costmap.global_costmap]: Checking transform
[component_container_isolated-2] [INFO] [1760491742.502641303] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-2] [ERROR] [1760491742.521641968] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [INFO] [1760491742.547536765] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.425 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.580227986] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.408 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.643384120] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.524 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.675790905] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.508 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.740482304] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.623 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.772536554] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.609 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.836399062] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.724 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491742.838542678] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [INFO] [1760491742.868672077] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.709 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.932587764] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.824 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491742.963454794] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.810 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491743.002826239] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] [INFO] [1760491743.027705331] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491741.925 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.059059600] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491741.910 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.123169282] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.026 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.155573156] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.008 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.220630773] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.126 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491743.239517402] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[component_container_isolated-2] [WARN] [1760491743.247502740] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-3] [INFO] [1760491743.251655515] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.109 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.347190899] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.207 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.348008590] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.227 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.443677784] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.327 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.476081205] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.307 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491743.502823263] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] [INFO] [1760491743.541022868] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.428 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491743.545480319] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [INFO] [1760491743.572192238] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.405 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.636863992] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.528 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.667273039] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.503 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.732626808] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.629 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.763866088] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.604 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.828278680] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.728 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.859102056] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.702 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491743.865887989] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [INFO] [1760491743.925876130] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.827 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491743.957165022] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.802 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [INFO] [1760491744.002878676] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-3] [INFO] [1760491744.020257461] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491742.928 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.051548867] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491742.903 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.117013505] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491743.028 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.179902337] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491743.001 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.244293621] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491743.128 for reason 'discarding message because the queue is full'
[component_container_isolated-2] [ERROR] [1760491744.263020683] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist.
[rviz2-3] [INFO] [1760491744.276245135] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491743.102 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.340609868] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491743.227 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.371854699] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1760491743.202 for reason 'discarding message because the queue is full'
[rviz2-3] [INFO] [1760491744.436398861] [rviz2]: Message Filter dropping message: frame 'base_scan2' at time 1760491743.326 for